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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

vol. AUT10-03

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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(04)Technical Report

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% Autogenerated BibTeX entry
@TechReport { RubEtal:2010:IFA_3581,
    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}},
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