Stratified multi-rate high-speed predictive control algorithm

Due to the online computational complexity, constrained model predictive control (MPC) is difficult to be applied to the systems which should be sampled with high frequency. This paper proposes a multi-rate high-speed predictive control algorithm (SMHPC) to apply MPC algorithm to this kind of system. The proposed algorithm includes two-layer controller, the upper part is responsible for solving the optimization problem, and the lower takes charge of amending the real control action according to the optimal solution from upper part and current feedback system states. Due to avoiding the requirement that an optimization problem must be completed in each sampling period, the proposed algorithm can be used in high-frequency sampling system and extend the application of predictive control to fast systems. The proposed algorithm is verified effective by simulation on the mechanism model of GIP-100-L inverted pendulum.