Design of Multirate Controller using a Current Estimator

Current Estimator를 이용한 멀티레이트 제어기 설계

This paper presents a multirate state feedback control (MRSFC) method for systems sensitive to disturbance and noise based on the multirate estimator design using the current estimator. MRSFC updates the controller output slower than the measurement sampling frequency of system output by a lifting factor R=T$\sub$c//T$\sub$s/. The closed-loop MRSFC system is less sensitive to disturbance and noise due to filtering effect than the conventional single-rate control system. The multirate estimator gain is obtained from solving a conventional pole placement problem such that MRSFC has the same spectrum of eigenvalues in the s-plane as the single-rate control. We applied the proposed multirate state feedback controller to a galvanometer servo system. Simulation and experimental results show that settling and tracking performances are improved compared with a conventional single-rate pole placement control (PPC).