Multirate polynomial predictive cascade control

This paper presents a multirate version of the generalized predictive control law performed within a polynomial cascade structure framework. This study is realized in the particular case of a two loops system. The polynomial cascade scheme is first briefly described, giving the equivalent polynomial controller, then the main development of the multirate algorithm is performed ensuring the conversion of a transfer function from a fast to a slow sampling period. At the end the equivalent polynomial controller is synthesized and some results obtained on an industrial servomechanism are given