High bandwidth control of slow sampling rate nonlinear systems using alternating predictive GPIOs
The output feedback stabilization problem is studied for a class of nonlinear systems with unknown disturbances under sampled-data control. An alternating predictive generalized proportional integral observer based control method is proposed. This method allows the observer to operate at the same fast updating rate as the controller, overcoming the limitations of a slow output sampling rate of the sensor. Using a suitable Lyapunov function, it is proved under suitable assumptions that the slow measurement fast control closed-loop dynamic system is globally bounded and asymptotically converges to an explicitly described bounded region. The applicability of this method is shown through multiple sets of simulations involving a single-link robot arm system operating in different working environments.
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