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Past work proposed an extension to finite control set model predictivecontrol to track both a current reference and a switching frequency reference,simultaneously. Such an objective can jeopardize the current trackingperformance, and this can potentially be alleviated by instead limiting theswitching frequency. To this end, we propose to limit the switching frequencyin finite control set model predictive control. The switching frequency iscaptured with an infinite impulse response filter and bounded by an inequalityconstraint; its corresponding slack variable is penalized in the cost function.To solve the resulting problem efficiently, a sphere decoder with acomputational speed-up is presented.

Switching Frequency Limitation with Finite Control Set Model Predictive Control via Slack Variables