Ripple-free conditions for lifted multirate control systems (Q5947635)

The publication analyses sampled-data systems in the lifted framework and shows that intersample ripples can exist in the closed-loop outputs. The main contribution is two-fold: to show that intersample ripples occur due to the presence of inverse lifting and nonidentical gains of the lifted system, and to demonstrate the existence of a set of constraints on the controller gains in order to eliminate these intersample ripples. Furthermore, using the internal model principle, for step-type reference signals, it is shown that the augmentation of a fast-rate integrator to the plant helps in overcoming these ripples.