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Abstract and Applied Analysis
Volume 2013, Article ID 937274, 9 pages
Research Article

Model Predictive Control of Piecewise Affine System with Constrained Input and Time Delay

1College of Automation, Harbin Engineering University, Harbin, Heilongjiang 150001, China
2College of Information and Telecommunication, Harbin Engineering University, Harbin, Heilongjiang 150001, China
3School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, Jiangsu 212013, China

Received 21 September 2013; Accepted 18 October 2013

Academic Editor: Shen Yin

Copyright © 2013 Zhilin Liu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A model predictive control (MPC) is proposed for the piecewise affine (PWA) systems with constrained input and time delay. The corresponding operating region of the considered systems in state space is described as ellipsoid which can be characterized by a set of vector inequalities. And the constrained control input of the considered systems is solved in terms of linear matrix inequalities (LMIs). An MPC controller is designed that will move the PWA system with time delay from the current operating point to the desired one. Multiple objective functions are used to relax the monotonically decreasing condition of the Lyapunov function when the control algorithm switches from a quasi-infinite horizon to an infinite horizon strategy. The simulation results verify the effectiveness of the proposed method. It is shown that, based on LMI constraints, it is easy to get the MPC for the PWA systems with time delay. Moreover, it is suitable for practical application.