Multirate digital adaptive control

AbstractA design method is developed which involves the use of several adaptive controllers working in parallel at different sampling rates while maintaining the asymptotic stability of the overall adaptive scheme, as well as the boundedness of all the signals within the system. The use of adaptive sampling is considered as an additional loop in a hierarchical organization of the scheme. This strategy allows the designer to take advantage of the suitable properties of such schemes which are well known in classical multirate control designs. These advantages arise from the need for alleviating control computer throughput requirements of accommodating sensor information available at multiple rates and for compensating excitations of the fast modes of the plant in the presence of high-frequency disturbances. As a direct consequence of the involved methodology, the transient behaviour of the adaptive system becomes in some cases greatly improved