Block multirate input-output model for sampled-data control systems

A model for multirate sampled-data systems is presented. A detailed analysis of nonconventional sampled-data control systems (SDCS) is performed. The block multirate input-output model illustrates the control possibilities of multirate SDCS. It is obtained from either a transfer function matrix or a state variable representation. The model provides a direct way to represent, design, and understand either periodic or predictive controllers. A controller design methodology suitable for multivariable, multirate, nonsynchronous SDCS is also presented. The main feature is the freedom to achieve important objectives such as structure assignment, decoupling, and desired transient behavior, as well as reference matching, optimal control, or disturbance rejection