A design of multirate output feedback control and application to an inverted pendulum system

This paper proposes a new method for designing a multirate output feedback control system, where the update interval of the control input is an integer multiple of the sampling interval of the plant output. The proposed method is designed by extending a conventional multirate output feedback control using the latest information of a plant. Hence, the proposed method can improve the control performance compared with conventional methods without the latest information. Furthermore, the obtained control structure can be simpler than conventional methods. An inverted pendulum system is controlled to demonstrate the effectiveness of the proposed method.