Abstract
This paper develops a systematic methodology for the synthesis of nonlinear multirate model-algorithmic controllers for multivariable nonlinear systems. The control structure incorporates all available process measurements and forces each output to follow a prespecified reference trajectory regardless of the sampling period. The proposed multirate controller is a time-varying periodic system, which has properties that enable a rigorous stability analysis. Sufficient conditions for asymptotic stability of the closed-loop system are established.
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