@incollection{eprints744,
           title = {Decentralized hierarchical multi-rate control of constrained linear systems},
          author = {Alberto Bemporad and Davide Barcelli and Giulio Ripaccioli},
            year = {2011},
       booktitle = {Proceedings of the 18th IFAC World Congress, 2011},
           pages = {277--283},
       publisher = {IFAC},
             url = {http://eprints.imtlucca.it/744/},
        keywords = {Decentralized control; Large scale optimization problems; Distributed robust controller synthesis},
        abstract = {This paper proposes a decentralized hierarchical multi-rate control scheme for large-scale dynamically-coupled linear systems subject to linear constraints on input and state variables. At the lower level, a set of decentralized and independent linear controllers stabilizes the process, without taking care of the constraints. Each controller receives reference signals from its own upper-level controller, that runs at a lower sampling frequency. By optimally constraining the magnitude and rate of variation of the reference signals to each lower-level controller, quantitative criteria are provided for selecting the ratio between the sampling rates of the upper and lower layers of control at each location, in a way that closed-loop stability is preserved and the fulfillment of the prescribed constraints is guaranteed.}
}