Multi-rate Multivariable Model Predictive Control For Integrating Processes

In this paper, the multi-rate multivariable system in which outputs measured are less frequently than inputs updated is studied. By lifting technique, the model predictive control for multi-rate multivariable integrating system is proposed. The controller is based on a state-space model in which the output is represented as a continuous function of time. Taking advantage of this particular model form, the cost functions is defined in terms of the integral of the output error along an infinite prediction horizon. The methods are verified by the application of the proposed approach to an integrating example