A nonlinear model predictive control scheme with multirate integral sliding mode

Matteo Rubagotti, Davide M. Raimondo, Colin N. Jones, Lalo Magni, Antonella Ferrara, Manfred Morari

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)


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.

Original languageEnglish
Title of host publication8th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2010
PublisherIFAC Secretariat
Number of pages6
ISBN (Print)9783902661807
Publication statusPublished - Jan 1 2010
Externally publishedYes

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
ISSN (Print)1474-6670

ASJC Scopus subject areas

  • Control and Systems Engineering

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