Authors
Takao Sato*, Natsuki Kawaguchi, Nozomu Araki, Yasuo Konishi
Graduate School of Engineering, University of Hyogo, Himeji, Hyogo, 671-2280, Japan
*
Corresponding author. Email: [email protected]
Corresponding Author
Takao Sato
Received 22 October 2018, Accepted 20 November 2018, Available Online 30 March 2019.
DOI
https://doi.org/10.2991/jrnal.k.190220.015How to use a DOI?
Keywords
Sampled-data control system; dual-rate system; intersample response; discrete-time response; null-space; redundancy
Abstract
In this study, the dual-rate sampled-data control system is designed, where the sampling interval of a plant output is an integer multiple of the holding interval of a control input. Because the discrete-time Linear Quadratic Integrator (LQI) is used for optimizing the discrete-time control performance, intersample output might oscillate. To eliminate the oscillation of the intersample ripple caused by the input oscillation, the designed LQI controller is extended. Finally, the original LQI control law and the extended control laws are quantitatively compared.

Copyright
© 2019 The Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).