Multirate model tracking control for linear-time invariant systems

This paper introduces a novel perfect (point-to-point) model tracking algorithm for LTI digital systems based on multirate control. Multirate sampling adds more degree-of-freedom to digital control systems; therefore, the matching conditions for model reference tracking of a desired signal can be easily satisfied. The advantages of the proposed method are that 1) It reduces and smoothes large magnitude and abrupt changes in control input due to initial mismatch of desired model and plant states; 2) Perfect tracking is obtained at each sampling point of the desired trajectory.