In this paper, a hybrid predictive controller is proposed for a class of uncertain switched nonlinear systems based on high-order differential state observers and Lyapunov functions. The main idea is to design an output feedback bounded controller and a predictive controller for each subsystem using high-order differential state observers and Lyapunov functions, to derive a suitable switched law to stabilize the closed-loop subsystem, and to provide an explicitly characterized set of initial conditions. For the whole switched system, based on the high-order differentiator, a suitable switched law is designed to ensure the whole closed-loop’s stability. The simulation results for a chemical process show the validity of the controller proposed in this paper.
 S. L. D. Kothare and M. Morari, “Contractive Model Pre dictive Control for Constrained Nonlinear Systems,” IEEE Transactions on Automatic Control, Vol. 45, No. 6, 2000, pp. 1053-1071.
 M. S. Branicky, “Multiple Lyapunov Functions and Other Analysis Tools for Switched and Hybrid Systems,” IEEE Transactions on Automatic Control, Vol. 43, No. 4, 1998, pp. 475-482.
 P. Mhaskar, N. H. El-Farra and P. D. Christofides, “Stabi lization of Nonlinear Systems with State and Control Con straints Using Lyapunov-Based Predictive Control,” Sys tems and Control Letters, Vol. 55, No. 8, 2006, pp. 650-659. doi:10.1016/j.sysconle.2005.09.014
 P. Mhaskar, N. H. El-Farra and P. D. Christofides, “Pre dictive Control of Switched Nonlinear Systems with Sche duled Mode Transitions,” IEEE Transactions on Automa tic Control, Vol. 50, No. 11, 2005, pp. 1670-1680. doi:10.1109/TAC.2005.858692
 N. H. E1-Farra and P. D. Christofides, “Bounded Robust Control of Constrained Multivariable Nonlinear Proc esses,” Chemical Engineering Science, Vol. 58, No. 13, 2003, pp. 3025-3047. doi:10.1016/S0009-2509(03)00126-X
 N. H. E1-Farra, P. Mhaskar and P. D. Christofides, “Out put Feedback Control of Switched Nonlinear Systems Us ing Multiple Lyapunov Functions,” Systems & Control Letters, Vol. 54, No. 12, 2005, pp. 1163-1182. doi:10.1016/j.sysconle.2005.04.005
 B. L. Su, S. Y. Li and Q. M. Zhu, “The Design of Predic tive Control with Characterized Set of Initial Condition for Constrained Switched Nonlinear System,” Science in China Series E-Technological Sciences, Vol. 52, No. 2, 2009, pp. 456-466. doi:10.1007/s11431-008-0249-8
 G. Y. Qi, Z. Chen and Z. Yuan, “Adaptive High Order Dif ferential Feedback Control for Affine Nonlinear System,” Chaos, Solitons & Fractals, Vol. 37, 2008, pp. 308-315. doi:10.1016/j.chaos.2006.09.027
 G. Y. Qi, M. A. van Wyk and B. J. van Wyk, “Model-Free Differential States Observer for Nonlinear Affine Sys tem,” The 7th IFAC Symposium on Nonlinear Control Systems, 21-24 August 2007, Pretoria, pp. 984-989