Dissipativity of nonlinear multirate sampled-data systems under emulation design

This paper deals with a common practical problem where the output of a nonlinear sampled-data system is constrained to be measured at a relatively lower sampling rate. Designing a continuous-time controller that satisfies a specific dissipation inequality, it is shown that the closed-loop sampled-data system obtained by digital implementation of the emulated controller in a multirate scheme preserves similar dissipation inequality in a semiglobal practical sense. Moreover, we address multirate nonlinear H ∞ control via an emulation method as an important application.