Abstract
The multirate sampled-data control of a linear time-invariant continuous-time plant is considered. It is shown that ‘gain variable’ multirate controllers can be viewed as finite impulse response (FIR) filters, and the pole assignment problem is studied from this viewpoint. Furthermore, it is shown how to evaluate the controller coefficients and how to improve the behaviour of the closed-loop system with respect to limit cycles and steady-state accuracy by introducing integral action.