Hybridization Toolbox for Model Predictive Control

This toolbox can be used to hybridize any nonlinear function given as its input argument, which can be either a nonlinear prediction model or the nonlinear function expressing the boundary of the feasible region, i.e. the nonlinear constraints.

A grid is generated on the function domain and the toolbox returns the hybridized form of the nonlinear function. The user can select the type and form of approximation based on the problem type:

For model approximation, the options areselecting the grid type andspecifying the number of affine modes in the MMPS formulation.For constraint approximation, the options arespecifying the number of subregions,selecting between polytopic (MMPS-based) or ellipsoidal approximation, andchoosing between boundary-based or region-based approximation.