Decentralized two-time-scale motions control using generalized sampled-data hold functions

This paper presents a decentralized variation of the two-time-scale motions controller for linear time invariant systems. A method is proposed to change the structure of the system using discretization and generalized sampled-data hold functions, so that distinct local discrete-time controllers can be applied to each input-output agent. The resultant output feedback decentralized periodic controller has, in fact, a linear time-varying structure. Conditions under which the desired structure modification can be accomplished are given and the simulation results are also included.