eprintid: 1216
rev_number: 10
eprint_status: archive
userid: 37
dir: disk0/00/00/12/16
datestamp: 2012-03-06 12:06:46
lastmod: 2013-09-30 12:27:36
status_changed: 2012-03-06 12:06:46
type: book_section
metadata_visibility: show
creators_name: Rubagotti, Matteo
creators_name: Raimondo, Davide Martino
creators_name: Jones, Colin Neil
creators_name: Magni, Lalo
creators_name: Ferrara, Antonella
creators_name: Morari, Manfred
title: A nonlinear model predictive control scheme with multirate integral sliding mode
ispublished: pub
subjects: QA75
subjects: TL
divisions: CSA
full_text_status: none
keywords: Nonlinear Model Predictive Control Theory and Applications; Variable Structure Control and Sliding Mode; Robustness
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.
date: 2010
date_type: published
publisher: IFAC
pagerange: 232-237
id_number: 10.3182/20100901-3-IT-2016.00172
refereed: TRUE
issn: 1474-6670
book_title: 8th IFAC Symposium on Nonlinear Control Systems
official_url: http://dx.doi.org/10.3182/20100901-3-IT-2016.00172
citation:   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)