of controller drastically. This study presents a new method of designing a model predictive controller (MPC) for a class of nonlinear systems. In the proposed method, an MPC is first designed in state space based on a linear model and then modified by using...

variables that is good to optimize in MPC framework. In this paper, MLD model as a class of hybrid systems used to model intersection traffic control. Then predictive control approach based on MIQP optimization is used to verify the rationality of MLD model...