Model Predictive Control of Hybrid Dynamical Systems

Mathematics > Optimization and Control [Submitted on 23 Apr 2026] Model Predictive Control of Hybrid Dynamical Systems Ricardo G. Sanfelice, Berk Altin The problem of controlling hybrid dynamical systems using model predictive control (MPC) is formulated and sufficient conditions for asymptotic stability of a set are provided. Hybrid dynamical systems are modeled in terms of hybrid equations, involving a differential equation and a difference equation with inputs and constraints. The proposed hybrid MPC algorithm uses a suitable prediction and control horizon construction inspired by hybrid time domains. Structural properties of the hybrid optimization problem, its feasible set, and its value function are provided. Checkable conditions to guarantee asymptotic stability of a set are provided. These conditions are given in terms of properties on the stage cost, terminal cost, and the existence of static state-feedback laws, related through a control Lyapunov function condition. Examples illustrate the results throughout the paper. Comments: Technical report associated with paper to appear in IEEE Transactions on Automatic Control, 2026 Subjects: Optimization and Control (math.OC); Artificial Intelligence (cs.AI); Robotics (cs.RO); Systems and Control (eess.SY); Dynamical Systems (math.DS) Cite as: arXiv:2604.21989 [math.OC]   (or arXiv:2604.21989v1 [math.OC] for this version)   https://doi.org/10.48550/arXiv.2604.21989 Focus to learn more Journal reference: IEEE Transactions on Automatic Control, 2026 Submission history From: Ricardo Sanfelice [view email] [v1] Thu, 23 Apr 2026 18:15:44 UTC (940 KB) Access Paper: HTML (experimental) view license Current browse context: math.OC < prev   |   next > new | recent | 2026-04 Change to browse by: cs cs.AI cs.RO cs.SY eess eess.SY math math.DS References & Citations NASA ADS Google Scholar Semantic Scholar Export BibTeX Citation Bookmark Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Demos Related Papers About arXivLabs Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)