Visual servoing based on multirate sampling control-application of perfect disturbance rejection control

In this paper, novel multirate controllers are proposed for digital control systems, where it is restricted that the sampling period of plant output is longer than the control period of plant input. The proposed controllers can assure perfect disturbance rejection at M intersample points in the steady state. Moreover, the novel scheme of repetitive control is proposed based on the open-loop estimation and switching function, which enables to reject periodical disturbance without any sacrifice of the feedback characteristics. The proposed methods are applied to the visual servo system, and the advantages of these approaches are demonstrated by simulations.