TY  - CHAP
ID  - eprints1216
T2  - 8th IFAC Symposium on Nonlinear Control Systems
EP  - 237
KW  - Nonlinear Model Predictive Control Theory and Applications; Variable Structure Control and Sliding Mode; Robustness
Y1  - 2010///
TI  - A nonlinear model predictive control scheme with multirate integral sliding mode
AV  - none
UR  - http://dx.doi.org/10.3182/20100901-3-IT-2016.00172
SN  - 1474-6670
PB  - IFAC
A1  - Rubagotti, Matteo
A1  - Raimondo, Davide Martino
A1  - Jones, Colin Neil
A1  - Magni, Lalo
A1  - Ferrara, Antonella
A1  - Morari, Manfred
SP  - 232
N2  - 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.
ER  -