2005 IFAC 16th Triennial World Congress, Prague, Czech RepublicThis paper presents a hybrid procedure to solve Model Predictive Controller (MPC) for Piecewise Affine System (PWA) The approach presented here belong to the class of Branch and Bound (B&B) methods. The procedure uses the concepts of reachable set combined to the specific B&B methods, in order to reduce the number of Quadratic Problems (QP) needed to be solved by the optimization algorithm
