| Affiliation: | 1. Department of Mechanical Engineering, Graduate School of Engineering, University of Hyogo, Hyogo, Japan
Contribution: Formal analysis, Investigation, Resources, Software, Validation;2. Department of Mechanical Engineering, Graduate School of Engineering, University of Hyogo, Hyogo, Japan;3. Research Institute of Engineering, Faculty of Engineering, University of Costa Rica, San Jose, Costa Rica |
| Abstract: | A data-driven design method for a cascade control system is proposed. The cascade control system consists of inner and outer loops, where the control interval of the outer loop is an integer multiple of the inner loop; hence, the system is a dual-rate system. In the proposed method, controllers in the inner and outer loops are designed based on one-shot data. In such a dual-rate cascade system, since the controllers are designed using different data-rate signals, the lifting technique is applied to align the dual-rate data. To show its effectiveness, the proposed method is compared with a conventional single-rate cascade control method, and numerical simulations and experiments are presented to examine servo and regulation performance. |
