This article is about a feedback control and state observation of a class of hybrid systems with some unobservable subsystems. When the system reaches an unobservable configuration, the state observer performance decreases, impacting the overall control performance of the system. For that reason, the majority of the existing controllers uses only measurements of the system’s continuous states when they are equal to the system outputs. To deal with this issue, control trajectories are constrained with respect to Z(TN)-observability criteria using a finite control set predictive control algorithm. The experimentations performed on a multicellular converter are presented and the results obtained show the efficiency of the proposed method.