Multi-Rate Networked Control of Conic Systems
نویسندگان
چکیده
This paper presents a novel multi-rate digitalcontrol system which preserves stability while providing robustness to time-delay and data loss. In addition, this architecture allows for high-order anti-aliasing filters to be included which do not adversely affect system stability. Therefore, it allows for improved noise-rejection and system performance as compared to traditional digital control systems. It is shown that this framework, based on passivity-based networked control principles, can be used to control not only passive-(dissipative) systems (systems inside the sector [0,∞]) but conic-(dissipative) systems which are inside the sector [a, b] in which |a| < b, 0 < b ≤ ∞. We demonstrate the applicability of our result through the direct position control of two three-degree of freedom haptic paddles which are inside the sector [−τ,∞] in which 0 < τ < ∞.
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