relation: http://eprints.imtlucca.it/1216/
title: A nonlinear model predictive control scheme with multirate integral sliding mode
creator: Rubagotti, Matteo
creator: Raimondo, Davide Martino
creator: Jones, Colin Neil
creator: Magni, Lalo
creator: Ferrara, Antonella
creator: Morari, Manfred
subject: QA75 Electronic computers. Computer science
subject: TL Motor vehicles. Aeronautics. Astronautics
description: 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.
publisher: IFAC
date: 2010
type: Book Section
type: PeerReviewed
identifier:   Rubagotti, Matteo and Raimondo, Davide Martino and Jones, Colin Neil and Magni, Lalo and Ferrara, Antonella and Morari, Manfred  A nonlinear model predictive control scheme with multirate integral sliding mode.   In:  8th IFAC Symposium on Nonlinear Control Systems.   IFAC, pp. 232-237.       (2010)  
relation: http://dx.doi.org/10.3182/20100901-3-IT-2016.00172
relation: 10.3182/20100901-3-IT-2016.00172