Explicit model-predictiv e control of hybrid dynamical systems: Application to a two-tank system

In this paper, we consider the solution of explicit model predictive control problem for piecewise affine systems in order to compare the results for the quadratic criterion and the linear one. Two issues are addressed: First, we start by computing the solution of the considered problem and determine the structure of the control law. Thereafter, we aim to reduce the complexity of the obtained control law to improve system performance in terms of number of polyhedral regions and computation time.