Control of systems integrating logic, dynamics, and constraints

This paper proposes a framework for modeling and controlling systems descri bed by interdependent physical laws, logic rules, and operating constraints , denoted as mixed logical dynamical (MLD) systems. These are described by linear dynamic equations subject to linear inequalities involving real and integer variables. MLD systems include linear hybrid systems, finite state machines, some classes of discrete event systems, constrained linear system s, and nonlinear systems which can be approximated by piecewise linear func tions. A predictive control scheme is proposed which is able to stabilize M LD systems on desired reference trajectories while fulfilling operating con straints, and possibly take into account previous qualitative knowledge in the form of heuristic rules. Due to the presence of integer variables, the resulting on-line optimization procedures are solved through mixed integer quadratic programming (MIQP), for which efficient solvers have been recentl y developed. Some examples and a simulation case study on a complex gas sup ply system are reported. (C) 1999 Elsevier Science Ltd. All rights reserved .