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Model Predictive Control for Linear Complementarity and Extended Linear Complementarity Systems
Bambang Riyanto, Ibrahim Hakim
*) Department of Electrical Engineering
Institut Teknologi Bandung,
Jl. Ganesha 10, Bandung, Indonesia
briyanto@lskk.ee.itb.ac.id
Abstract. In this paper, we propose model predictive control method for linear complementarity and extended linear complementarity systems by formulating optimization along prediction horizon as mixed integer quadratic program. Such systems contain interaction between continuous dynamics and discrete event systems, and therefore, can be categorized as hybrid systems. As linear complementarity and extended linear complementarity systems finds applications in different research areas, such as impact mechanical systems, traffic control and process control, this work will contribute to the development of control design method for those areas as well, as shown by three given examples.
Keywords: model predictive control; linear complementarity; extended linear complementarity; hybrid systems; mixed integer quadratic program; impact mechanical systems; traffic control; process control.
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