Feedforward for multi-rate motion control: enhanced performance and cost-effectiveness

J.C.D. Zundert, van, J.L.C. Verhaegh, W.H.T.M. Aangenent, T. Oomen, D. Antunes, W.P.M.H. Heemels

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

6 Citations (Scopus)
137 Downloads (Pure)


In traditional feedback control, a single sampling rate is used for all control loops. Consequently, achieving higher performance by increasing the sampling rate is generally costly. The aim of this paper is to develop a multi-rate control framework to create a breakthrough in the performance/cost trade-off in digital controller implementation. In the proposed approach one of the control loops is implemented at a lower rate of which the feedforward controller is designed through norm-based minimalization of the tracking error in this multi-rate framework. By designing and implementing one of the control loops at a lower rate, the cost is reduced and the multi-rate problem is addressed. Through simulation the adequate performance of the proposed multi-rate approach is demonstrated.
Original languageEnglish
Title of host publication2015 American Control Conference (ACC 2015), July 1–3, 2015, Chicago, IL, USA
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Number of pages6
ISBN (Print)978-1-4799-8686-6
Publication statusPublished - Jul 2015
Event2015 American Control Conference, ACC 2015 - Hilton Palmer House, Chicago, United States
Duration: 1 Jul 20153 Jul 2015


Conference2015 American Control Conference, ACC 2015
Abbreviated titleACC 2015
Country/TerritoryUnited States
Internet address


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