On the potential of lifted domain feedforward controllers with a periodic sampling sequence

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Abstract

Motion control applications traditionally operate with a single-rate, equidistant sampling scheme. For cost reasons, a current trend in industry is consolidating multiple applications on a single embedded platform. Generally, to deal with inter-application interference, a predictable scheduling policy allocates resource to the applications in these platforms. Realizing an equidistant sampling scheme on such shared platform is inflexible and often turns out to be expensive in terms of resource or conservative in terms of performance. The aim of this paper is to investigate the possibilities to relax the equidistant sampling convention. To this end, recent results show that platform timing properties can be represented by a known, precise, and periodically varying set of sampling periods. In view of such predictable platforms, a framework is presented for analysis and synthesis of lifted domain feedforward controllers for periodically time-varying closed-loop systems. Through simulations the potential of such periodically time-varying sampling over conservative equidistant sampling schemes is demonstrated.
Original languageEnglish
Title of host publication2016 American Control Conference (ACC 2016), July 6-8, 2016, Boston, MA, USA
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages4227-4332
Number of pages6
ISBN (Electronic)978-1-4673-8682-1
DOIs
Publication statusPublished - Jul 2016
Event2016 American Control Conference (ACC 2016), July 6-8, 2016, Boston, MA, USA - Boston Marriott Copley Place, Boston, MA, United States
Duration: 6 Jul 20168 Jul 2016
http://acc2016.a2c2.org/

Conference

Conference2016 American Control Conference (ACC 2016), July 6-8, 2016, Boston, MA, USA
Abbreviated titleACC 2016
CountryUnited States
CityBoston, MA
Period6/07/168/07/16
Internet address

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Cite this

van Zundert, J., Oomen, T. A. E., Goswami, D., & Heemels, W. P. M. H. (2016). On the potential of lifted domain feedforward controllers with a periodic sampling sequence. In 2016 American Control Conference (ACC 2016), July 6-8, 2016, Boston, MA, USA (pp. 4227-4332). Piscataway: Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ACC.2016.7525586