Ripple-suppressed multirate control and its application to a system with an ultra sonic sensor

This paper deals with multirate tracking control of linear time-invariant systems with two sampling-rates: a slower one for the output and a faster one for the input. It is known that intersample ripples often arise in the outputs of the closed-loop multirate systems although multirate control has interesting advantages. There are some papers which discuss this problem, but only few studies which confirm the validity of the control design methods through experiments. In this paper, a ripple-suppressed multirate control scheme is presented arid applied to a position servo experimental system with an ultrasonic sensor. Experimental results show the effectiveness of the algorithm.