I. Necoara, B. De Schutter, T.J.J. van den Boom, and J. Hellendoorn, "Model predictive control for perturbed continuous piecewise affine systems with bounded disturbances," Proceedings of the 43rd IEEE Conference on Decision and Control, Paradise Island, The Bahamas, pp. 1848-1853, Dec. 2004.
Continuous piecewise-affine systems are a powerful tool for describing or approximating both nonlinear and hybrid systems. In this paper we extend the Model Predictive Control (MPC) framework for continuous piecewise-affine systems that we have developed previously to deterministic uncertainty. We show that the resulting MPC optimization problem can be transformed into a sequence of linear optimization problems (LP), which can be solved very efficiently.