Input/output distribution in digital control

The temporal distribution of input and output is the main feature of distributed sampling control (DSC). The DSC method was first used to improve the performance of multi-input-multioutput (MIMO) robotic control systems. Control algorithms to which this method can be applied require each system output (or state variable) at a different time point and generate each plant input at a different time point. The underlying concept is introduced, and its performance is demonstrated through examples of simple robots operating with model-based controllers. Two controllers are used to drive the same plants. One is based on conventional control principles where feedback signals are simultaneously sampled and plant inputs are applied simultaneously, and the other utilizes DSC. Differences in the control action are then analyzed. General aspects of the distributed sampling controls are also discussed.<
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