Some practical aspects about performance and tuning of a multirate discrete PID controller

This work discusses validity of some classical tuning methods when applied to a control system where sampling of the variable control and updating of the control signal are taken at different periods. Controller is assumed to be a discrete PID and it is allowed that control actions can be calculated at different periods. Some practical aspects of the tuning of this type of control systems are developed and a tool that allows their design and control is introduced. In order to do so, some examples are presented which show the performance of the control system and illustrate how their tuning is possible taking as starting point methods usually associated to classical sample data systems.