Abstract
This paper describes a multi-rate feedback/feedforward system applicable to the design and analysis of tracking control system under measurement constraints. In this system, the feedback controller is updated at the slow rate, while the feedforward controller is updated at the fast rate with a desired sequence, which is obtained by interpolating the slow sampled sequence of the desired trajectory. The tracking performance is evaluated by including intersample behavior of the output. Illustrative examples are given to further explain the advantages of multi-rate control.
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