MULTIRATE SAMPLED-DATA STABILIZATION OF NONLINEAR SYSTEMS

The problem of state feedback sampled-data stabilization of nonlinear systems is considered under the ”lowmeasure-ment rate ” constraint and in presence of (not necessarily small) time-delay in the measurement channel. A multi-rate control scheme is proposed which utilizes a numerical integration scheme to approximately predict the current state from the delayed measurements and to reconstruct state trajectories between samples. For both the controller emulation approach and the approach based on approxi-mate discrete-time model of the system, we show that un-der the standard assumptions borrowed from [8, 10] the closed-loop multirate sampled data system is asymptoti-cally stable in the semiglobal practical sense. An illustra-tive example of sampled-data control of VTOL aircraft is presented that demonstrates the advantages of the pro-posed scheme.