JRM Vol.28 No.5 pp. 702-706
doi: 10.20965/jrm.2016.p0702


Design Method for Improvement of Transient-State Intersample Output of Multirate Systems Including Integrators

Tomonori Kamiya, Takao Sato, Nozomu Araki, and Yasuo Konishi

Graduate School of Engineering, University of Hyogo
2167 Shosha, Himeji, Hyogo 671-2280, Japan

March 17, 2016
July 28, 2016
October 20, 2016
multirate system, intersample output, integrator, difference operation
This paper discusses a design method for a multirate system including integrators, where the update interval of the control input is shorter than the sampling interval of the plant output. In such a multirate control system, intersample output might oscillate between sampled outputs in the steady state even if the sampled output converges to the reference input. This is because the control input can be updated between the sampled outputs. In a conventional method, a predesigned control law is extended such that the steady-state ripples are eliminated independent of a discrete-time response. However, the conventional method is invalid when integrators are included in a controlled plant. In this study, a difference operation in discrete time is used to address this issue. Moreover, the transient-state intersample response is improved independent of a pre-designed discrete-time response.
Comparison of output responses

Comparison of output responses

Cite this article as:
T. Kamiya, T. Sato, N. Araki, and Y. Konishi, “Design Method for Improvement of Transient-State Intersample Output of Multirate Systems Including Integrators,” J. Robot. Mechatron., Vol.28 No.5, pp. 702-706, 2016.
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