Self-tuning control of dual-rate systems with input nonlinearities

A polynomial transformation technique is used to obtain a model for a dual-rate nonlinear system in which the output sampling interval is an integer multiple of the control interval. Based on this model, a self-tuning control algorithm is presented by minimizing output tracking error criteria from directly the dual-rate measurement data. The self-tuning algorithm proposed can achieve virtually asymptotically optimal control and ensure the closed-loop system to be stable and globally convergent. The proposed algorithm is illustrated by examples.