Intersample optimization in a sampled-data control system using the redundancy of a dual-rate system |
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| Authors: | R Yasui N Kawaguchi T Sato A Inoue |
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| Institution: | 1. Department of Mechanical Engineering, Graduate School of Engineering, University of Hyogo, 2167, Shosha, Himeji, Hyogo 671-2280, Japan;2. Okayama University, 3-1-1, Tsushima-Naka, Kitaku, Okayama-shi, 700-0082, Japan;1. School of Automation, Nanjing University of Science &Technology, No. 200 Xiaolingwei, Nanjing, China;2. School of Science, Nanjing University of Science &Technology, No. 200 Xiaolingwei, Nanjing, China;3. Shanghai Institute of Mechanical and Electrical Engineering, No.421 Guilin Road, Shanghai, China;1. Beijing Institute of Control Engineering, China Academy of Space Technology, Beijing 100080, China;2. Beijing Institute of Spacecraft System Engineering, China Academy of Space Technology, Beijing 100094, China;3. School of Aeronautics and Astronautic, Sun Yat-sen University, Guangzhou 510006, China;1. School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China;2. School of Electrical and Information Engineering, Guangxi University of Science and Technology, Liuzhou 545006, China;1. School of Internet of Things Engineering, Jiangnan University, Wuxi 214122, China;2. Engineering Research Center of Internet of Things Applied Technology, Ministry of Education, Jiangnan University, Wuxi 214122, China;1. Research Center of Automation and Artificial Intelligence, Zhejiang University of Technology, Hangzhou 310023, PR China;2. National Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, PR China;3. Institute for Advanced Study, Chengdu University, Chengdu 610106, PR China |
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| Abstract: | The present study discusses the design method for controlling a single-input/single-output linear time-invariant dual-rate system, where the sampling interval of the plant output is longer than the holding interval of the control input. In such a dual-rate system, the intersample output might oscillate even when the sampled output converges to the reference input in the steady state. In a conventional ripple-free method, an existing control law is extended by introducing an exogenous variable, which is independent of the discrete-time sampled response, and the exogenous variable is designed for eliminating the steady-state intersample ripples without changing the existing sampled response. In another method, since a control law is designed such that the intersample performance is optimized, the intersample ripples are eliminated in the transient as well as steady states. However, the preservation of an existing sampled response is not taken into account. The present study proposes a new design method for eliminating the intersample ripples subject to the existing sampled response. In the proposed method, the continuous-time index is optimized subject to the existing discrete-time response. As a result, the intersample ripples are eliminated in the transient as well as steady states, and the existing discrete-time sampled response is maintained. The proposed method is compared to the conventional dual-rate design methods in numerical examples, and the effectiveness of the method is demonstrated. |
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