### Abstract

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 language | English |
---|---|

Title of host publication | 8th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2010 |

Publisher | IFAC Secretariat |

Pages | 232-237 |

Number of pages | 6 |

Volume | 43 |

Edition | 14 |

ISBN (Print) | 9783902661807 |

DOIs | |

Publication status | Published - Jan 1 2010 |

Externally published | Yes |

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### ASJC Scopus subject areas

- Control and Systems Engineering

### Cite this

*8th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2010*(14 ed., Vol. 43, pp. 232-237). IFAC Secretariat. https://doi.org/10.3182/20100901-3-IT-2016.00172

**A nonlinear model predictive control scheme with multirate integral sliding mode.** / Rubagotti, Matteo; Raimondo, Davide M.; Jones, Colin N.; Magni, Lalo; Ferrara, Antonella; Morari, Manfred.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

*8th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2010.*14 edn, vol. 43, IFAC Secretariat, pp. 232-237. https://doi.org/10.3182/20100901-3-IT-2016.00172

}

TY - GEN

T1 - A nonlinear model predictive control scheme with multirate integral sliding mode

AU - Rubagotti, Matteo

AU - Raimondo, Davide M.

AU - Jones, Colin N.

AU - Magni, Lalo

AU - Ferrara, Antonella

AU - Morari, Manfred

PY - 2010/1/1

Y1 - 2010/1/1

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=80051749842&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=80051749842&partnerID=8YFLogxK

U2 - 10.3182/20100901-3-IT-2016.00172

DO - 10.3182/20100901-3-IT-2016.00172

M3 - Conference contribution

SN - 9783902661807

VL - 43

SP - 232

EP - 237

BT - 8th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2010

PB - IFAC Secretariat

ER -