Control of discrete time hybrid systems with discrete inputs

The paper proposes a model predictive control approach to the hybrid systems with discrete inputs only. The algorithm, which takes into account a model of a hybrid system described as MLD (mixed logical dynamical) system, is based on performance driven reachability analysis. The algorithm abstracts the behavior of the hybrid system by building a tree of evolution. Nodes of the tree represent reachable states of a process, and the branches connect two nodes if a transition exists between the corresponding states. To each node a cost function value is associated and based on this value, the tree exploration is driven. As soon as the tree is explored, the corresponding input is applied to the system and the procedure is repeated.