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

Author

Ishitobi, Mitsuaki ; Nishioka, Yoshihiro ; Kinoshita, Hiroshi ; Liang, Shan

Author_Institution

Dept. of Mech. Eng. & Material Sci., Kumamoto Univ., Japan

Volume

6

fYear

2003

fDate

9-12 Dec. 2003

Firstpage

5979

Abstract

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.

Keywords

closed loop systems; control system synthesis; linear systems; multivariable control systems; position control; servomechanisms; ultrasonic transducers; closed-loop multirate systems; linear time-invariant systems; multirate tracking control; position servo; ripple-suppressed multirate control; ultrasonic sensor; Control systems; Delay effects; Digital control; Mechanical engineering; Mechanical sensors; Polynomials; Sampling methods; Sensor systems; Sensor systems and applications; Servomechanisms;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2003. Proceedings. 42nd IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-7924-1

Type

conf

DOI

10.1109/CDC.2003.1271967

Filename

1271967