B. De Schutter and T.J.J. van den Boom, "MPC for continuous piecewise-affine systems - Addendum," Tech. rep. CSE02-004a, Control Systems Engineering, Fac. of Information Technology and Systems, Delft University of Technology, Delft, The Netherlands, 9 pp., Oct. 2003.
This addendum contains some extra information in connection with the worked examples of Section 6 of the paper "MPC for continuous piecewise-affine systems" (by B. De Schutter and T.J.J. van den Boom, Systems & Control Letters, vol. 52, no. 3-4, pp. 179-192, July 2004). In particular, we give the explicit form of the optimization problems for each of the four solution approaches used in Section 6.