Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Ripple Free Multirate Controller Design Using Lifting Technique

리프팅 기법을 이용한 리플 제거 멀티레이트 제어기 설계

  • 정동슬 (㈜이노칩테크놀러지 부설연구소) ;
  • 조규남 (삼성종합기술원) ;
  • 정정주 (한양대학교 전기제어생체공학부)
  • Published : 2007.11.01
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Abstract

This paper presents ripple-free method that can occur in multirate controller design. The conventional multirate input controller has the problem that the ripple occurs in track-following because of chattering phenomenon in control input signal. In order to resolve the problem of rippling, it was proposed to eliminate the ripple phenomenon using feedforward compensator. This paper makes explains problems in conventional ripple-tree multirate controller and introduces a multirate controller design method applying lifting technique based on current estimators in condition space. Using the ripple-tree multirate controller, we show that chattering does not occur in the control input signal through applying the final value theorem from the viewpoint of discrete-time transformation. Also, this study proves that the ripple of the proposed controller decreases with the increase of this sampling frequency and, when sampling frequency is fixed, it decreases with the increase of the control input period.

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References

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