TY  - CONF
ID  - eprints1220
T2  - European Control Conference
Y1  - 2009/08//
AV  - none
TI  - Robust model predictive control of continuous-time sampled-data nonlinear systems with integral sliding mode
CY  - Budapest, Hungary
UR  - http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=3292
M2  - Budapest, Hungary
A1  - Rubagotti, Matteo
A1  - Raimondo, Davide Martino
A1  - Ferrara, Antonella
A1  - Magni, Lalo
N2  - A hierarchical Nonlinear Model Predictive Control (NMPC) scheme with guaranteed Input-to-State-practical- Stability (ISpS) is proposed. The controller is formed by an Integral Sliding Mode (ISM) controller and a NMPC one. The ISM, relying on the knowledge of the nominal continuous-time model of the system and of the piecewise constant control signal generated by the NMPC produces a control action aimed at reducing the difference between the dynamics of the nominal closed-loop system and the actual evolution of the state. The NMPC in this way can be designed based on a system with reduced uncertainty. In order to prove the stability of the overall control scheme, some general Regional ISpS results for continuous-time systems are proven.
ER  -