Design technique for multi-rate linear systems
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In this paper a design technique for multi-rate, linear digital control systems is described. This technique takes into account all the sampling rates involved in the system, and generates a multi-rate system that mimics the dynamics of a desired single-rate closed-loop system. The desired closed-loop system is referred to as an ideal single-rate system (ISRS) since it operates at the fastest sampling rate present in the system. The multi-rate system is designed to achieve state-matching, at the fastest rate, with the ISRS, and to exhibit a ripple-free response with zero steady-state error in response to a step reference signal. Unlike prior work in the literature, which is applicable only to static feedback ISRS, the proposed state-space design procedure is applicable for any LTI dynamic feedback ISRS. The proposed design is successfully implemented on a hard disk drive (HDD) platform for seek control of the read-write (R/W) arm. A representative sample of the experimental results are shown and discussed to highlight the proposed multi-rate technique. Copyright © 2007 International Federation of Automatic Control All Rights Reserved.
author list (cited authors)
Cimino, M., & Pagilla, P. R.