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
N1 - Funding Information:
⋆ This work has been partially supported by the European Commission under the project Feednetback FP7−ICT−223866 (www.feednetback.eu), and by the Italian PRIN project “Model predictive control algorithms for artificial pan− creas”.
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 -