State-space Design of a Dual-rate Control System Using the Null-space

被引：0

作者：

Yasui, Ryota ^{[1
]}

Kawaguchi, Natsuki ^{[1
]}

Sato, Takao ^{[1
]}

Araki, Nozomu ^{[1
]}

Konishi, Yasuo ^{[1
]}

机构：

[1] Univ Hyogo, Grad Sch Engn, Dept Mech Engn, 2167 Shosha, Himeji, Hyogo 6712280, Japan

来源：

2018 INTERNATIONAL CONFERENCE ON INFORMATION AND COMMUNICATION TECHNOLOGY ROBOTICS (ICT-ROBOT) | 2018年

关键词：

dual-rate system; state-space representation; null space; redundant input; ripple; intersample output;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This study discusses a space-space design method for controlling a single-input single-output dual-rate system, where the sampling interval of a plant output is longer than the holding interval of a control input. In such a dual-rate control system, the intersample output can oscillate even if the sampled output converges to the reference input. In the proposed method, an existing control law is extended using the null-space so that the intersample ripple is eliminated. As a result, the intersample output response is redesigned independent of the sampled output response. Finally, through numerical examples, the effectiveness of the proposed method is verified.

引用

页数：4

共 8 条

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