A general theory of “discrete/continuous” type discrete-time control for linear dynamical systems

Discrete-time controllers of the “discrete-continuous” (D/C) type allow the control u(t) to vary continuously across each sample-interval kT⩽t⩽((k+1)T), thereby achieving a better accommodation of time-varying commands and/or disturbances, compared to conventional (zero-order-hold type) discrete-time controllers. In this paper a general theory of discrete-time control of the D/C type is developed for a broad class of MIMO set-point regulation and servo-tracking control problems with uncertain, time-varying disturbances