%0 Book Section
%@ 
%A Rubagotti, Matteo
%A Raimondo, Davide Martino
%A Jones, Colin Neil
%A Magni, Lalo
%A Ferrara, Antonella
%A Morari, Manfred
%B 8th IFAC Symposium on Nonlinear Control Systems
%D 2010
%F eprints:1216
%I IFAC
%K Nonlinear Model Predictive Control Theory and Applications; Variable Structure Control and Sliding Mode; Robustness
%P 232-237
%T A nonlinear model predictive control scheme with multirate integral sliding mode
%U http://eprints.imtlucca.it/1216/
%X 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.