在某些情況下，一系統會被動地由一個子系統切換到另一個子系統。本論文針對此問題提出一具有主動切換機制的軌跡追蹤器。藉由將反飽和架構與模型預測控制結合以盡可能在不損耗追蹤效果情況下解決輸入飽和的問題並同時具有良好的軌跡追蹤效果。該機制可以及時識別系統模型切換，並透過主動切換機制，轉換到相對應的控制器以維持良好的追蹤效果。

In some cases, a system may switch from one model to another, passively. In this thesis, an active switching mechanism is proposed for a passively switching MIMO system. The modified optimal anti-windup control scheme is combined with model-predictive control (MPC), to resolve the input constraint problem for the passively switching MIMO system with input constraints, without losing the good tracking performance as possible. The proposed model-predictive control scheme can identify the switching instant immediately, and it systematically compresses a huge control input within the desired range by adjusting the well-designed weighting matrix for the linear time-invariant (LTI) constrained system.

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