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Abstract
Inversion-based feedforward control is a basic method of tracking controls. The aim of this paper is to design MIMO multirate feedforward controller that improves continuous-time tracking performance in MIMO LTI systems considering not only on-sample but also intersample behavior. Several types of MIMO multirate feedforward controllers are designed and evaluated in terms of the 2-norm of the control inputs. The approach is compared with a conventional MIMO single-rate feedforward controller in simulations. The approach improves the intersample behavior through the optimal selection of input multiplicities with MIMO multirate system inversion.
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