UC Santa Cruz

In this paper we design a hybrid predictive controller for the tracking of a sinusoidal reference signal. The stability and forward invariance of a set of points around the reference state, named the tracking ellipse, is established by using tools for hybrid dynamical systems. Moreover, prediction of solutions for a finite number of switching events is used to minimize the number of switches. The control algorithm is shown to be robust to small perturbations and input disturbances. Simulations illustrating the main results are included.