Design of hybrid model predictive controller for a hybrid three tank system

The hybrid systems contain two different types: subsystems with continuous dynamic behavior and subsystems with discrete dynamic behavior that not only coexist but also interact with one another. In recent years study of hybrid systems has caught the attention of many researchers. Motivation for this is due to the reason that almost all the systems in laboratory and industries exhibits hybrid dynamic behavior. And designing a controller for such a system must take into account the challenges of interacting continuous and discrete dynamics within the system. Model Predictive Controller is a widely appreciated controller however in this paper a hybrid MPC controller is designed for a three-tank benchmark system modelled as a hybrid system. The controller so designed was found to be stable displaying no oscillations even under load and servo disturbances applied.