
Title:  Nashbased distributed MPC for multirate systems   Authors:  S. RoshanyYamchi, R.R. Negenborn, A.A. Cornelio 
 Book title:  Distributed Model Predictive Control Made Easy   
 Abstract:  In this chapter, a new Nashbased distributed MPC method is proposed to control largescale multirate systems with linear dynamics that are coupled via inputs. These systems are multirate systems in the sense that either output measurements or input updates are not available at certain sampling times. Such systems can arise when the number of sensors is less than the number of variables to be controlled or when measurements of outputs cannot be completed simultaneously because of applicational limitations. The multirate nature gives rise to a lack of information which will cause uncertainty in the system's performance. To compensate for the information loss due to the multirate nature of the systems under study, a distributed Kalman filter is proposed to provide an optimal estimate of the missing information. 
 Reference:  S. RoshanyYamchi, R.R. Negenborn, A.A. Cornelio. Nashbased distributed MPC for multirate systems. In Distributed Model Predictive Control Made Easy (J.M. Maestre, R.R. Negenborn, eds.), Springer, Dordrecht, The Netherlands, pp. 341353, 2014.   Request:  A
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