Hybrid Modeling and Predictive Control of a Multi-Tank System: A Mixed Logical Dynamical Approach

Mixed logical dynamical (MLD) modeling appears as an effective and realistic approach in modeling and control of hybrid systems. In this modeling approach, dynamical and logical constraints as well as control system design specifications are transformed into so-called mixed-integer inequalities. In this paper, the MLD framework is used for modeling of a multi-tank system as a switched nonlinear system. Control of fluid levels in multiple tanks is considered as a case study for predictive control of MLD systems. Translation of control problem specifications into mixed-integer inequalities shows the ability of MLD framework to deal with complex modeling and optimization tasks