Multirate selftuning controller for multivariable systems

The multirate GPC for multivariable systems has been derived from a GARMA model. The controller minimized the proposed performance index, which is defined not only at the output sampling instants but also at the input sampling instant, with explicit penaltics on the control variables. Some simulation studies show the effectiveness of the proposed control algorithm. These simulation results show that the proposed control algorithm makes the performance of the multirate control system approachthat of the single-rate(fast rate) control system.