High bandwidth control of slow sampling rate nonlinear systems using alternating predictive GPIOs

Abstract

This paper investigates the problem of robust output feedback control tracking for a class of nonlinear dual-rate sample-data systems subject to time-varying disturbances. These dual-rate systems, known as slow measurement fast control (SMFC) systems, are characterised by a slow sampling rate of the sensor and a fast updating rate of the controller. To facilitate high-frequency signal tracking, this paper introduces an alternating predictive generalised proportional integral observer (APGPIO). The proposed control method not only effectively restores the system state and captures disturbance changes between samples but also enhances the control bandwidth and anti-disturbance ability, enabling effective tracking of high-frequency reference outputs. By combining it with a fast updating sample-data feedback controller, APGPIO utilises predictive methods to increase the sampling rate of the system's sensors, matching the update frequency of the controller. Stability analysis demonstrates that the tracking error of this hybrid nonlinear system converges to a bounded region centred at the origin. Finally, the designed method's high control bandwidth and anti-disturbance ability are demonstrated through multiple sets of simulations using a real system.

Keywords:

• Output feedback control
• slow measurement fast control system
• alternating predictive generalised proportional integral observer
• control bandwidth
• anti-disturbance ability

Disclosure statement

No potential conflict of interest was reported by the author(s).

Data availability statement

Data sharing is not applicable to this article as no data sets were generated or analysed during the current study.

Additional information

Funding

This work was supported in part by the National Natural Science Foundation of China under Grant 62103102, Grant 62173221, and Grant 61973080, in part by the Natural Science Foundation of Jiangsu under Grant BK20210213.