IMT Institutional Repository: No conditions. Results ordered -Date Deposited. 2024-05-23T11:56:29ZEPrintshttp://eprints.imtlucca.it/images/logowhite.pnghttp://eprints.imtlucca.it/2012-03-06T14:41:51Z2013-09-30T12:25:11Zhttp://eprints.imtlucca.it/id/eprint/1224This item is in the repository with the URL: http://eprints.imtlucca.it/id/eprint/12242012-03-06T14:41:51ZRobust nonlinear MPC with integral sliding mode for systems with matched disturbancesMatteo RubagottiDavide Martino RaimondoAntonella FerraraLalo Magni2012-03-06T13:28:10Z2013-09-30T12:25:32Zhttp://eprints.imtlucca.it/id/eprint/1220This item is in the repository with the URL: http://eprints.imtlucca.it/id/eprint/12202012-03-06T13:28:10ZRobust model predictive control of continuous-time sampled-data nonlinear systems with integral sliding modeA 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.Matteo RubagottiDavide Martino RaimondoAntonella FerraraLalo Magni2012-03-06T12:06:46Z2013-09-30T12:27:36Zhttp://eprints.imtlucca.it/id/eprint/1216This item is in the repository with the URL: http://eprints.imtlucca.it/id/eprint/12162012-03-06T12:06:46ZA nonlinear model predictive control scheme with multirate integral sliding modeIn 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.Matteo RubagottiDavide Martino RaimondoColin Neil JonesLalo MagniAntonella FerraraManfred Morari2012-03-02T15:30:33Z2013-09-30T12:33:14Zhttp://eprints.imtlucca.it/id/eprint/1208This item is in the repository with the URL: http://eprints.imtlucca.it/id/eprint/12082012-03-02T15:30:33ZRobust model predictive control with integral sliding mode in continuous-time sampled-data nonlinear systemsThis paper proposes a control strategy for nonlinear constrained continuous-time uncertain systems which combines robust model predictive control (MPC) with sliding mode control (SMC). In particular, the so-called Integral SMC approach is used to produce a control action aimed to reduce the difference between the nominal predicted dynamics of the closed-loop system and the actual one. In this way, the MPC strategy can be designed on a system with a reduced uncertainty. In order to prove the stability of the overall control scheme, some general regional input-to-state practical stability results for continuous-time systems are proved.Matteo RubagottiDavide Martino RaimondoAntonella FerraraLalo Magni