Multirate sampling and delays in receding horizon stabilization of nonlinear systems

Authors:	Gyurkovics Eva, Budapest University of Technology and Economics, Hungary Elaiw Ahmed, Budapest University of Technology and Economics, Hungary
Topic:	2.4 Optimal Control
Session:	Optimal Control Theory and Design Methods
Keywords:	Nonlinear predictive control, Multirate sampled-data systems, Time delays,Optimal control, Stability.

Abstract

In this paper, a multirate version of the receding horizon algorithm for the stabilizationof sampled-data nonlinear systems is presented. The computations are based ondiscrete-time approximate models. "Low measurement rate" is assumed,and the presence of measurement and computational delays are taken into account.It is shown that, under reasonable assumptions, the proposed algorithm gives aclosed-loop system which is stable in appropriate sense.