Multirate I-PD Controller based on Multirate Generalized Predictive Control using Integrator

摘要

This paper proposes a new design method of an I-PD controller in a multirate system. In the multirate system, a problem of ripples between sampled outputs exists. Since the proposed multirate I-PD controller is designed based on a generalized predictive control law of suppressing the ripples, the ripples do not emerge in the proposed method. In order to illustrate the effectiveness of the proposed method, numerical simulations are shown.