Composite fast-slow MPC design for nonlinear singularly perturbed systems: Stability analysis

In this work, we focus on the design of a composite control system for nonlinear singularly perturbed systems using model predictive control (MPC). Specifically, a composite control system comprised of a “fast” MPC acting to regulate the fast dynamics and a “slow” MPC acting to regulate the slow dynamics is designed. The composite MPC system uses multirate sampling of the plant state measurements, i.e., fast sampling of the fast state variables is used in the fast MPC and slow-sampling of the slow state variables is used in the slow MPC. Using singular perturbation theory, the stability of the closed-loop nonlinear singularly perturbed system is analyzed.