Centralized and decentralized regulation of multirate control systems forced by bounded exogenous signals

This paper considers the design of digital control systems, where the measurement mechanism is nonstandard, that is, each output is measured at its own rate. It addresses the classical regulator problem, under the assumption that the exogenous signals are nonvanishing, bounded and with a rational spectrum. Some constructive conditions are given for the existence of least-order regulators able to solve the problem outlined, both in a centralized and in a decentralized context.