Title :
Multi-rate control for motion control applications
Author :
Tomizuka, Masayoshi
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Abstract :
Multi-rate digital control systems involve more than one sampling (updating) frequency. This paper presents several cases of multi-rate digital control and their applications to motion control systems. More specifically, multi-rate control ideas are presented for performance enhancement and computation saving. Multi-rate control combined with the idea of interlacing saves real time computation without noticeable degradation of performance. Basics of lifting, the major analytical tool for multi-rate systems, is also reviewed.
Keywords :
control system analysis; digital control; feedforward; motion control; sampled data systems; feedforward; lifting analysis; motion control systems; multirate digital control systems; performance enhancement; real time computation; sampling frequency; Control systems; Degradation; Digital control; Frequency measurement; Hard disks; Mechanical engineering; Motion control; Sampling methods; Signal sampling; State estimation;
Conference_Titel :
Advanced Motion Control, 2004. AMC '04. The 8th IEEE International Workshop on
Print_ISBN :
0-7803-8300-1
DOI :
10.1109/AMC.2004.1297635
