Transfer function model of multirate feedback control systems (Q2747741)

The authors consider linear continuous-time multivariable systems with multirate digital controllers and with reference and output signals sampled by multirate zero-order holds. It is assumed that all sampling rates are integer multiples (\(T_i=q_iT\)) of a base-rate sampling period (\(T\)) and are all synchronized at the frame period (i.e. \(T=qT_0\) with \(n\) being the least common multiple of all \(n_i\)). Decomposing the samplers into a series of synchronized samplers with time-advance and time-delay elements allows the formulation of a transfer function model (\(z\)-transform) of the sampled system in terms of the original model parameters using the multivariable version of the Kranc operator and appropriate matrix operations.