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Multirate digital control system design

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3 Author(s)
Berg, M.C. ; Dept. of Mech. Eng., Washington Univ., Seattle, WA, USA ; Amit, N. ; Powell, J.D.

Methods for multirate digital control system design are discussed. A simple method for sampling rate selection based on control bandwidths is proposed. Methods for generating a discrete-time state model of a sampled-data plant and a discrete-time equivalent to an analog cost function for a sampled-data plant are described. The successive loop closures and linear quadratic Gaussian synthesis methods are reviewed, and a constrained optimization synthesis method is introduced. The proposed sampling rate selection, discretization, and synthesis methods are applied to two example design problems. Multirate and single-rate compensators synthesized by the different methods are compared based on closed-loop responses with compensators having the same real-time computation load.<>

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Automatic Control, IEEE Transactions on  (Volume:33 ,  Issue: 12 )