Controller transfer under sampling rate dynamic changes

In this paper, the effects due to changes in the sampling period of digital controllers are analyzed. The swapping between controllers could produce instability problems and, in any case, the control performances could be degraded. In order to minimize this effect, the new control actions are computed based on the new controller parameters and estimations of the required past values of the state or appropriated sequences of its input and output. The proposed algorithm uses interpolation and numerical optimization to evaluate the value of these variables at the new sampling periods for the next controller. The improvements obtained by this approach are shown by simulation examples.