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Analysis of Multi-rate Discrete Equivalent
of Continuous Controller
Josep Tornero, Yuping Gu and Masayoshi Tomizuka
Abstract
This paper is concerned with the analyses of multi-rate controllers, which update the controller output faster than
the measurement sampling frequency by a factor of N. The controlled systems is continuous, and the discrete time
controller is obtained as its zero order hold equivalent. After deriving a set of equations necessary for analysis and
design of multi- rate systems, the open loop characteristics of the multi-rate controller and the closed loop
characteristics are examined. Several physical meanings can be derived from the formulation of the multi-rate
controller.
Keywords:
multi-rate control, digital control.
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