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.

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U2 - 10.3182/20100901-3-IT-2016.00172

DO - 10.3182/20100901-3-IT-2016.00172

M3 - Conference contribution

AN - SCOPUS:80051749842

SN - 9783902661807

VL - 43

T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)

SP - 232

EP - 237

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

PB - IFAC Secretariat

ER -