Abstract
One of the authors has developed a practical design principle, called partial model matching. Applying the principle, a new design method for multi-input/multi output sampled data I-PD control systems is discussed. A special feature of this design method is that both the response shape and the sampling period can be selected independently for every control loop. Points in this method are given on how to realize the above feature. A digital I-PD control algorithm with multirate sampling periods is explained, after deriving design formulas. The effectiveness of this method is demonstrated by simulation tests.
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