Intersample Behavior Analysis of MIMO Multirate Feedforward Control depending on Selection of Input Multiplicities

摘要

Perfect tracking control method using multirate feedforward control is a very effective control method in high-precision positioning systems since this method provides zero tracking error for a nominal plant at every reference sampling point theoretically. When we design a multirate feedforward controller for a multi-input multi-output system, it is known that several types of controllers can be designed depending on how to select input multiplicities. Although multirate feedforward controllers provide perfect tracking at every reference sampling point theoretically, intersample behavior is different. In this paper, we propose the stable state trajectory generation method and the guideline to design an optimal multi-input multi-output multirate feedforward controller considering the 2-norm of control input and improve the intersample behavior. The effectiveness of the proposed method is verified in the simulation.