Abstract
A systematic methodology for analysis and control design of multirate systems is presented. The analysis is based on properties of state-transition matrices to propagate the system dynamics at faster to slower sampling rate. The approach addresses systems with multiple sampling rates at any rational ratio as well as multirate feedbacks with dynamic compensation. The optimal control design uses techniques similar to the analysis. It is first carried out for fast controls by augmenting the system with slow controls. The resulting closed-loop system then is propagated to slower sampling rates, where the design of slow controls is performed. The design procedure is straight-forward and produces fixed gains for all multirate feedback paths.
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