Quantitative Evaluation in Discrete-time Domain and Improvement in Intersample Response on Multirate Optimal Control
- 10.2991/jrnal.k.190220.015How to use a DOI?
- Sampled-data control system; dual-rate system; intersample response; discrete-time response; null-space; redundancy
In this study, the dual-rate sampled-data control system is designed, where the sampling interval of a plant output is an integer multiple of the holding interval of a control input. Because the discrete-time Linear Quadratic Integrator (LQI) is used for optimizing the discrete-time control performance, intersample output might oscillate. To eliminate the oscillation of the intersample ripple caused by the input oscillation, the designed LQI controller is extended. Finally, the original LQI control law and the extended control laws are quantitatively compared.
- © 2019 The Authors. Published by Atlantis Press SARL.
- Open Access
- This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - JOUR AU - Takao Sato AU - Natsuki Kawaguchi AU - Nozomu Araki AU - Yasuo Konishi PY - 2019 DA - 2019/03/30 TI - Quantitative Evaluation in Discrete-time Domain and Improvement in Intersample Response on Multirate Optimal Control JO - Journal of Robotics, Networking and Artificial Life SP - 273 EP - 277 VL - 5 IS - 4 SN - 2352-6386 UR - https://doi.org/10.2991/jrnal.k.190220.015 DO - 10.2991/jrnal.k.190220.015 ID - Sato2019 ER -