Abstract
This paper studies the multi-rate optimal control problem for a class of industrial processes, whose controlling rate will be set faster than the sampling rate sometimes. This multi-rate phenomenon makes the accurate modeling of control systems challenging and difficult. In this brief, we present a model-free self-learning control scheme for the real-time solution of this problem, combining the lifting technology and Q-learning. For the asynchronous periods, the lifting system is established first to reconstruct the input and output by stacking the control and sampling signals to a frame period, maintaining the original dynamic information. Then, Q-learning is adopted to learn the optimal control policy with the real-time data and the convergence analysis of the proposed algorithm is derived. In this way, the control actions are executed at a faster rate to obtain the better dynamic performance. Finally, a hardware-in-loop (HIL) simulation study for process industries is carried out, showing that the proposed approach has high tracking and real-time performance.
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