Robust pole assignment of digital control system with multirate sampled output

A multirate digital control system is, in essence, a periodically time-variant (PTV) system. It has many super-capabilities, such as obtaining an arbitrarily-large gain-margin, simultaneous stabilization, strong stabilization, and decentralized control, etc. By utilizing the freedom that results from the multirate sampling of system ouput, the paper robustly assigns poles of the closed-loop system and so improves resistance of the system to disturbance.