Dual-rate sampling for adaptive-predictive switching controllers

The advantages of dual-rate control systems are considered in terms of theory and practice. The sampling rates suitable for good control are usually too fast for simultaneous identification in digital control systems. The design of dual-rate adaptive control systems proves advantageous, since both tasks, control and identification, perform best at different rates. In dual-rate systems, signals and models need to be transformed from one time domain to the other. A new transformation is presented which is not based on pole-zero mappings, but allows a change of the model order during the transformation. Simulations and practical tests with an adaptive-predictive switching controller demonstrated the improvements that can be achieved by dual-rate sampling