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<p>This paper presents a switched model predictive control (MPC) with non-uniform penalty for discrete-time constrained switched linear systems. A non-uniform time-varying stage cost penalty is incorporated to reduce the required prediction horizon while guaranteeing closed-loop stability. To address feasibility challenges arising from mode-dependent state constraints, switching invariant sets are constructed to ensure persistent feasibility under minimal dwell-time constraints. Explicit conditions on dwell time, weighting parameters, and penalty rates are derived to guarantee asymptotic stability of the closed-loop system. Furthermore, an algorithm for computing the maximal switching invariant sets is developed. The proposed method is validated through a vehicle longitudinal control case study, demonstrating its effectiveness and computational efficiency.</p>

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Switched model predictive control with non-uniform penalty for switched systems

  • 期刊论文

  • 发表日期：

    2026年1月26日

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  • Feiyue Wu,
  • Jie Lian,
  • Wei Wang

摘要

This paper presents a switched model predictive control (MPC) with non-uniform penalty for discrete-time constrained switched linear systems. A non-uniform time-varying stage cost penalty is incorporated to reduce the required prediction horizon while guaranteeing closed-loop stability. To address feasibility challenges arising from mode-dependent state constraints, switching invariant sets are constructed to ensure persistent feasibility under minimal dwell-time constraints. Explicit conditions on dwell time, weighting parameters, and penalty rates are derived to guarantee asymptotic stability of the closed-loop system. Furthermore, an algorithm for computing the maximal switching invariant sets is developed. The proposed method is validated through a vehicle longitudinal control case study, demonstrating its effectiveness and computational efficiency.