Multirate versions of sampled-data stabilization of nonlinear systems |
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Authors: | Ilia G Polushin [Author Vitae] Horacio J Marquez [Author Vitae] |
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Affiliation: | a Department of Electrical Engineering, Lakehead University, Thunder Bay, Ont., Canada P7B 5J2 b Department of Electrical and Computer Engineering, University of Alberta, Edmonton, Alberta, Canada T6G 2V4 |
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Abstract: | The problem of state feedback sampled-data stabilization of nonlinear systems is considered under the “low measurement rate” constraint and in the presence of (not necessarily small) time delay in the measurement channel. A multirate control scheme is proposed that utilizes a numerical integration scheme to approximately predict the current state from the delayed measurements. For both the controller emulation approach and the approach based on approximate discrete-time model of the system, we show that under standard assumptions the closed-loop multirate sampled data system is asymptotically stable in the semiglobal practical sense. An illustrative example of sampled-data control of vertical take off and landing aircraft is discussed. |
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Keywords: | Multirate sampled-data systems Nonlinear control Time delays Limited data rates |
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