Abstract
SummaryNonequidistant sampling potentially enhances the performance/cost trade‐off that is present in traditional equidistant sampling schemes. The aim of this paper is to develop a systematic feedback control design approach for systems that go beyond equidistant sampling. A loop‐shaping design framework for such nonequidistantly sampled systems is developed that addresses both stability and performance. The framework only requires frequency response function measurements of the LTI system, whereas it appropriately addresses the linear periodically time‐varying behavior introduced by the nonequidistant sampling. Experimental validation on a motion system demonstrates the superiority of the design framework for nonequidistantly sampled systems compared to traditional designs that rely on equidistant sampling.
Highlights
Digital implementations of motion controllers provide a large design flexibility at a low cost1
The aim of this paper is to develop a systematic feedback control design approach for systems that go beyond equidistant sampling
The framework only requires frequency response function measurements of the linear time-invariant (LTI) system, while it appropriately addresses the linear periodically time-varying (LPTV) behavior introduced by the nonequidistant sampling
Summary
Digital implementations of motion controllers provide a large design flexibility at a low cost. Most of the digital implementations are based on fixed, equidistant sampling schemes. Such schemes are favorable from a control design perspective since time invariance of continuous-time systems is preserved. From the perspective of cost-effective and high performance control design, flexible sampling is preferred over fixed sampling. Equidistant sampling can always be obtained by discarding part of the sampling instances Such an approach goes at the expense of the achievable performance since not all data and decision variables are exploited. Flexible sampling, including non-equidistant sampling, is preferred since it allows to exploit all available data and decision variables with identical hardware cost and thereby improve the performance/cost trade-off compared to fixed sampling. Examples of flexible sampling include non-equidistant sampling [3,4], multirate control [5,6,7,8], and sparse control 9
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: International Journal of Robust and Nonlinear Control
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
