Feedback control of linear systems by multirate pulse-width modulation

In this note, sampled-data methods for modeling and control design of pulse-width modulated systems are examined. Both single-rate and multirate approaches are considered. Local controllability and observability analyses of the sampled-data models are performed, and feedback linearizability conditions for the sampled-data models are derived. Multirate nonlinear state and output feedback designs are presented that permit asymptotic regulation or tracking