Predictive Control of Switched Nonlinear Processes With Scheduled Mode Transitions1

A predictive control framework is proposed for the constrained stabilization of switched nonlinear processes. The problem of stabilization of a switched process, transiting between its constituent modes at prescribed transition times, is considered. The main idea is to design Lyapunov-based predictive controllers for each of the constituent modes in which the switched process oPerates, and incorporate constraints in the predictive controller design of the individual modes which ensure that transitions between the modes at pre-deterrnined switching times occur in a way so as to guarantee stabilization of the switched closed-loop process. This is achieved as follows: For each constituent mode, a Lyapunov-based predictive controller (MPC) is designed. Then, constraints are incorporated in the MPC design which ensure that: (1) the states of the closed-loop process, at the time of the transition, reside in the stability region of the mode that the process switches into, and (2) the value of the Lyapunov function of the process for each of the modes is nonincreasing whenever the mode is active, thereby guaranteeing stabilization. The proposed control method is demonstrated through application to a chemical process example.