Halldorson, U., Fikar, M., Unbehauen, H.: Multirate Approach to Nonlinear Predictive Control. 13th Int. Conference on Process Control, Strbske Pleso, Slovakia, June 11-14, 2001, CD-ROM Proceedings, p199.pdf.

This paper discusses a possible approach to the reduction of the computational load of a nonlinear model predictive controller. In principle, the sufficiently large output horizon is divided into only a few equidistant intervals with piece-wise constant control actions. After finding a solution of this dynamic optimisation problem, the control horizon is halved keeping parts od the first solution fixed, the sampling rate is doubled and the whole procedure is repeated until the length of the first time interval is. This procedure is repeated using the receding horizon principle.