In order to get a larger prediction horizon,
Is it possible that my MPC controller ran at 100 Hz while internally the predictions are performed at 10 Hz? Is it a good practice?
Thus, with 20 nodes I would get a prediction horizon of 2 seconds. On the other hand, If I set both sampling times (of the control loop and the predictions) at 100 Hz, with 20 nodes I would get a prediction horizon of 0.2 seconds (quite short to my purposes).
If it is possible, I should consider this in the problem formulation? For example in the MPC initialization for the next step.
Thanks in advance!