# A hierarchical multirate MPC scheme for interconnected systems - $\textit{extended version}$

## TL;DR

This paper introduces a hierarchical multirate MPC framework for interconnected linear systems, combining a robust centralized high-level controller with local low-level controllers operating at different rates to enhance control performance.

## Contribution

It proposes a novel hierarchical multirate MPC scheme that integrates a reduced order centralized controller with local controllers at varying rates for interconnected systems.

## Key findings

- Effective coordination of hierarchical controllers demonstrated in simulation.
- Potential for improved control performance in interconnected systems.
- Framework adaptable to different system configurations.

## Abstract

This paper presents a hierarchical control scheme for interconnected linear systems. At the higher layer of the control structure a robust centralized Model Predictive Control (MPC) algorithm based on a reduced order dynamic model of the overall system optimizes a long-term performance index penalizing the deviation of the state and the control input from their nominal values. At the lower layer local MPC regulators, possibly working at different rates, are designed for the full order models of the subsystems to refine the control action computed at the higher layer. A simulation experiment is presented to describe the implementation aspects and the potentialities of the proposed approach.