On stability analysis of the multirate multivariable predictive control systems

In this paper, a predictive control algorithm is developed for multirate multivariable system in which the sampling periods of outputs and holding periods of inputs are all different. In order to make full use of the information and reduce the burden of the computer, the optimization is done as long as there is at least a new measured output since the time k and one input that need to be updated. By grouping the variables in a frame period into vectors, the characteristic equation is derived. Thus, the stability condition of the closed loop system is obtained for the system presented in this paper. Simulation results indicate that the method is effective.