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

doi:10.3182/20100901-3-IT-2016.00172

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 proceeding › Conference contribution

2 Citations (Scopus)

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	https://doi.org/10.3182/20100901-3-IT-2016.00172
Publication status	Published - Jan 1 2010
Externally published	Yes

Publication series

Name	IFAC Proceedings Volumes (IFAC-PapersOnline)
Number	14
Volume	43
ISSN (Print)	1474-6670

Funding

⋆ 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”.

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.3182/20100901-3-IT-2016.00172

Cite this

Rubagotti, M., Raimondo, D. M., Jones, C. N., Magni, L., Ferrara, A., & Morari, M. (2010). A nonlinear model predictive control scheme with multirate integral sliding mode. In 8th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2010 (14 ed., Vol. 43, pp. 232-237). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 43, No. 14). 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. et al.
8th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2010. Vol. 43 14. ed. IFAC Secretariat, 2010. p. 232-237 (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 43, No. 14).

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

Rubagotti, M, Raimondo, DM, Jones, CN, Magni, L, Ferrara, A & Morari, M 2010, A nonlinear model predictive control scheme with multirate integral sliding mode. in 8th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2010. 14 edn, vol. 43, IFAC Proceedings Volumes (IFAC-PapersOnline), no. 14, vol. 43, IFAC Secretariat, pp. 232-237. https://doi.org/10.3182/20100901-3-IT-2016.00172

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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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A nonlinear model predictive control scheme with multirate integral sliding mode

Abstract

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