ADVANCED DIGITAL MOTION CONTROL BASED ON MULTIRATE SAMPLING CONTROL

摘要

In this paper, our recent studies on multirate sampling control and its application to motion control systems are reviewed. Especially, multirate two-degree-of-freedom controllers are focused on, where it is restricted that the sampling period of plant output is longer than the control period. The proposed controllers assure perfect tracking control (PTC) and perfect disturbance rejection (PDR) at M inter-sampling points. The proposed approaches are applied to the position control of servomotors, hard disk drives, and visual servo systems. The advantages are demonstrated through simulations and experiments.