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Mixed discrete/continuous specifications in sampleddata H2optimal control,” Automatica 33
, 1997
"... The increasing use of digital equipment in control in the last half century made a tremendous impact on controller design methodology. On the other hand, it had little affect on the control problem formulation: the control goals to a large extent still remain those of the analog world. The goal of ..."
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The increasing use of digital equipment in control in the last half century made a tremendous impact on controller design methodology. On the other hand, it had little affect on the control problem formulation: the control goals to a large extent still remain those of the analog world. The goal of this paper is to introduce and justify a new approach to sampleddata control system design, which enables one to account for the special opportunities, introduced by the employment of digital equipment. The essence of this approach is the simultaneous treatment of both continuous and discretetime performance requirements; hence, mixed discrete/continuous specifications (MDCS). In the paper, the sampleddata H2 MDCS problem is formulated and solved. As a byproduct of the MDCS treatment several novel technical results are obtained. Illustrative examples, demonstrating the potential benefits of the proposed approach are presented.
H2OPTIMAL SAMPLEDDATA CONTROL FOR PLANTS WITH MULTIPLE INPUT AND OUTPUT DELAYS
, 2006
"... The sampleddata H2optimization problem for plants with multiple input and output delays is considered. An equivalent discretetime system is constructed and numerical algorithm for computing matrices of its statespace realization is presented. It is proved that stability of this system is equiva ..."
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The sampleddata H2optimization problem for plants with multiple input and output delays is considered. An equivalent discretetime system is constructed and numerical algorithm for computing matrices of its statespace realization is presented. It is proved that stability of this system is equivalent to stability of original sampleddata system. The proposed method can be applied to a wide class of digital control problems for continuoustime plants with multiple input and output delays.
Best Achievable Tracking Performance in SampledData Systems via LTI Controllers ∗
, 2007
"... In this paper we study the problem of tracking a step reference signal using sampleddata control systems. We are interested in the tracking performance, defined as the integral square of the tracking error response between the system’s output and the reference input. This performance is deemed the ..."
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In this paper we study the problem of tracking a step reference signal using sampleddata control systems. We are interested in the tracking performance, defined as the integral square of the tracking error response between the system’s output and the reference input. This performance is deemed the best achievable by a sampleddata controller with a linear timeinvariant discretetime compensator if it is the minimal attainable by all such controllers that stabilize the system. Our primary objective is to investigate the fundamental tracking performance limit in sampleddata systems, and to understand whether and how sampling and hold in a sampleddata system may impose intrinsic barriers to performance. We consider two tracking performance measures, with one defined with respect to the unit step signal, and another with respect to a delayed step signal and averaged over one sampling period. We derive an analytical closedform expression in each case for the best achievable performance. The results show that a performance loss is generally incurred in a sampleddata system, in comparison to the tracking performance achievable by analog controllers. This loss of performance, as so demonstrated by the expressions, is attributed to the nonminimum phase behaviors as well as the intersample effects generated by samplers and hold devices. Thus, sampleddata controllers do result in an additional performance limit, which is seen as a necessary tradeoff for other advantages offered by this class of controllers.
A Retrospective View on SampledData  Control Systems
, 1996
"... 5.33> ztransform to specify its operation in discretetime. To interface these two kinds of systems, sampling/hold operations are introduced. The former is 1 Supported in part by the Murata Science Foundation.  r + f e \Phi \Phi  C(z)  H  P (s) q y  6 \Gamma Figure 1. Unity Fe ..."
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5.33> ztransform to specify its operation in discretetime. To interface these two kinds of systems, sampling/hold operations are introduced. The former is 1 Supported in part by the Murata Science Foundation.  r + f e \Phi \Phi  C(z)  H  P (s) q y  6 \Gamma Figure 1. Unity Feedback SampledData System denoted by the slanted line segment while the latter is designated by the box H. The objective here is to analyze and design this control system. The lecture started out with the introduction of ztransform, description of how we can compute the ztransform from a given Laplace transform, and then proceeded to the zdomain representation etc. I can still recall with a rather vivid image that I