New real-time hybrid MPC schemes solve QPCCs per sample to yield bounded-error piecewise affine approximations to discontinuous MPC feedback laws for systems with switches.
Diehl,Real-Time Optimization for Large Scale Nonlinear Processes
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Real-Time Algorithms for Model Predictive Control of Hybrid Dynamical Systems
New real-time hybrid MPC schemes solve QPCCs per sample to yield bounded-error piecewise affine approximations to discontinuous MPC feedback laws for systems with switches.