Multi-rate control for motion control applications

Multi-rate digital control systems involve more than one sampling (updating) frequency. This paper presents several cases of multi-rate digital control and their applications to motion control systems. More specifically, multi-rate control ideas are presented for performance enhancement and computation saving. Multi-rate control combined with the idea of interlacing saves real time computation without noticeable degradation of performance. Basics of lifting, the major analytical tool for multi-rate systems, is also reviewed.