Comparison of H2 Controller Design Methods for Non-uniform Sampled-data Systems

In many practical applications, several factors make sampled-data systems operate non-uniformly. In these systems, the sampling and control signal updating time intervals are variable. These systems are generally non-periodic and timevarying. Therefore, controller design is usually difficult. In this paper, we design H2 controller for non-uniform sampled-data systems. Because these systems are time-varying, definitions such as Z-transform and H2-norm are not established and the controller should be designed in time domain. So first we extend theH2-norm definition for non-uniform systems. Then we design the H2 controller for these systems in time domain. There are three general methods to design controllers for sampled-data systems. We design the controller with all these methods. Finally, through a case study, we design theH2 controller for a linearized ball and beam system and compare the results.