  In this paper, a modified robust model predictive control scheme is proposed
for linear parametric variable (LPV) and hybrid systems based on a
quasi-min-max algorithm. Using a new cost function resulted in reduced unwanted
disturbances during switching. In addition, the effects of uncertainties are
reduced in the prediction dynamics, and robust stability of piecewise switching
LPV systems subjected to linear matrix inequality (LMI) input constraints are
guaranteed. Simulation results demonstrate the performance of the proposed
controller compared to prior research.
