REGULATION OF MULTIRATE SAMPLED-DATA SYSTEMS

This paper deals with the design of a regulator for multivariable discrete-time systems characterized by nonstandard updating of the inputs and measurement of the outputs. In particular, it is assumed that any input can be computed and any output can be measured at its own frequency. A set of integrators is plugged into the loop to guarantee steady-state zero-error regulation for constant reference signals. The stabilizing regulator is derived by resorting to a pole-placement technique and is composed of two dynamic and periodic systems; namely, a state observer and a feedback control law.