@incollection{eprints1216,
          author = {Matteo Rubagotti and Davide Martino Raimondo and Colin Neil Jones and Lalo Magni and Antonella Ferrara and Manfred Morari},
           pages = {232--237},
       publisher = {IFAC},
            year = {2010},
           title = {A nonlinear model predictive control scheme with multirate integral sliding mode},
       booktitle = {8th IFAC Symposium on Nonlinear Control Systems},
        keywords = {Nonlinear Model Predictive Control Theory and Applications; Variable Structure Control and Sliding Mode; Robustness},
             url = {http://eprints.imtlucca.it/1216/},
        abstract = {In this paper, a hierarchical multirate control scheme for nonlinear discrete-time systems is proposed, composed of a robust model predictive controller (MPC) and a multirate integral sliding mode (MISM) controller. In particular, the MISM controller acts at a faster sampling time than the MPC controller, and reduces the effect of model uncertainties and external disturbances, in order to obtain, at the next sampling instant of the MPC controller, a value of the system state that is as close as possible to the nominal one. To obtain this result, the control variable is composed of two parts: one generated by the MPC controller, and the other by the MISM controller. The a-priori reduction of the disturbance terms turns out to be very useful in order to improve the convergence properties of the MPC controller.}
}