NASA NTRS · 19920046723
Reduced order multirate compensator synthesis
Abstract
A method for synthesizing reduced-order multirate compensators is presented. Necessary conditions for the compensator parameter values to minimize an infinite-time quadratic cost function are derived. An algorithm for finding compensator parameter values which satisfy the necessary conditions is described. This algorithm is used to design several tip position controllers for a two-link robot arm.
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Mason, Gregory S., Berg, Martin C.. 1991-01-01. Reduced order multirate compensator synthesis. https://ntrs.nasa.gov/citations/19920046723
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