This paper is concerned with performance enhancement of tracking control systems by multi-rate control. The feedback controller is updated at the same rate as the sampling rate of the output measurements. The feedforward controller processes the desired output signal for high accuracy tracking, and its output is updated at a rate N-times faster than the sampling rate of the output measurements. The discrete time model of the controlled plant may possess unstable zeros, and the zero phase error tracking controller (ZPETC) is used as a feedforward controller. Inter-sample behavior of the plant is included in evaluating the tracking performance of the multi-rate system. Illustrative examples are given to show advantages of the proposed multi-rate feedback/feedforward control scheme.
Multi-Rate Feedforward Tracking Control for Plants With Nonminimum Phase Discrete Time Models
Contributed by the Dynamic Systems and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS. Manuscript Received by the Dynamics Systems and Control Division March 15, 1999. Associate Editor: P. Voulgaris.
Gu, Y., and Tomizuka, M. (March 15, 1999). "Multi-Rate Feedforward Tracking Control for Plants With Nonminimum Phase Discrete Time Models ." ASME. J. Dyn. Sys., Meas., Control. September 2001; 123(3): 556–560. https://doi.org/10.1115/1.1388013
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