A QFT approach to robust dual‐rate control systems

Abstract

A dual-rate control system is a hybrid system composed of continuous-time and discrete-time elements with two sampling frequencies. In this work, a new frequency domain analysis and design approach, based on the quantitative feedback theory is developed, to cope with robust stability and robust tracking specifications. Tracking specifications are considered not only in the discrete-time but also in continuous-time, that allow a precise description of the intersample behavior (ripples), and characterization of frequencies below and beyond the Nyquist frequencies. Several illustrative examples and a case study has been developed.

Resource-Efficient Path-Following Control for a Self-Driving Car in a Networked Control System

“…As a consequence of the considerable amount of data that must be transmitted over the in-vehicle network, the occupancy of its resources may be intensified [14], [15]. Then, the use of dual-rate control and estimation techniques [18], [19] may be a viable solution. Assuming a slow rate for sensing and communication, and an M times faster rate for control and actuation, the amount of packets sent through the network, and hence, the bandwidth and battery usage, can be reduced M times, while keeping an acceptable control performance.…”