Multi-model predictive control with local constraints based on model switching

Because model switching system is a typical form of Takagj-Sugeno(T-S) model which is an universal approximator of continuous nonlinear systems, we describe the model switching system as mixed logical dynamical (MLD) system and use it in model predictive control (MPC) in this paper. Considering that each local model is only valid in each local region, we add local constraints to local models. The stability of proposed multi-model predictive control (MMPC) algorithm is analyzed, and the performance of MMPC is also demonstrated on an inulti-multi-output(MIMO) simulated pH neutralization process.