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A Nonlinear Model Predictive Control Scheme with Multirate Integral Sliding Mode


M. Rubagotti, D. M. Raimondo, C.N. Jones, Lalo Magni, Antonella Ferrara, M. Morari

8th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2010)

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.


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M. Morari

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% Autogenerated BibTeX entry
@InProceedings { RubEtal:2010:IFA_3556,
    author={M. Rubagotti and D. M. Raimondo and C.N. Jones and Lalo Magni and Antonella Ferrara and M. Morari},
    title={{A Nonlinear Model Predictive Control Scheme with Multirate
	  Integral Sliding Mode}},
    booktitle={8th IFAC Symposium on Nonlinear Control Systems (NOLCOS
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