Abstract
We introduce 'quasi-decentralised control', a multi-rate design strategy for the synthesis of controllers which are neither fully centralised nor fully decentralised, instead allowing continuous variation between these two extremes. We begin the analysis of this approach in a system structure based on Internal Model Control, and suggest two synthesis procedures on the assumption that one already has a satisfactory centralised controller for the plant. These both give sufficient conditions for existence of such controllers, and the resulting multi-rate controllers approximate, in an H∞ sense, the original continuous time controller.
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