A design method of multirate I-PD controller based on multirate generalized predictive control law

This paper proposes a new design method of an I-PD controller. The I-PD controller is designed in a multirate system with fast control input and slow output sampling. In order to design PID parameters of the multirate I-PD controller, the multirate I-PD controller is designed based on a multirate generalized predictive control law. Since in the multirate system a control input is updated faster than a single-rate system with slow control input and slow output sampling, the control effect of the proposed multirate I-PD controller is greater than that of a conventional single-rate one. Finally in order to show effectiveness of the proposed method, simulation results are illustrated.