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2020, IFAC 2020 World Congress, Pages -

Sampled-Data Tracking under Model Predictive Control and Multi-Rate Planning (04b Atto di convegno in volume)

ELOBAID MOHAMED, MATTIONI MATTIA, MONACO Salvatore, Dorothée Normand-Cyrot

In this paper, a new control scheme for sampled-data nonlinear model predictive control is proposed making use of a multi-rate based trajectory planning for designing admissible references over the prediction horizon. The proposed controller is compared with existing reference generators for model predictive control through simulations over a benchmark example.
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