Exponential stabilization of dual-rate control system: A switched system approach

This paper investigates exponential stabilization of a dual-rate linear control system using a switched system approach. Taking into consideration different sampling periods of various sensors, the state variables of the linear system are classified as two categories and each category is paired with a sampling period. Based on whether the sampling information about two categories of state variables is available, a periodically switched controller is proposed. The resulting dual-rate control system is modeled as a switched system with two time-varying sawtooth delays. A delay-dependent exponential stabilization condition is established in terms of linear matrix inequalities. The effectiveness of the proposed method is demonstrated by performing the sampled-data control for an unmanned automobile. The simulation result shows that the dual-rate sampling method can achieve a better control performance than the existing single-rate sampling method.