RIA: Robust and High Performance Control of Multirate Sampled Data Systems

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WPC* 2 B J Z Courier #| x x 6 X @ K X @ QMS JetScript QMSJETSC.PRS x @ h h h h }X @ #| x 2 Z D X F Z Courier QMS JetScript QMSJETSC.PRS x @ h h h h }X @T ? x x x x 6 X @ K X @ T R & H H H H 6 X @ K h @ R:\WPDOC\ 2 ( 9308481 Voulgaris The objective of this project is to develop complete, systematic, robust and high performance methodologies for multirate sampled data systems that take directly into account the hybrid nature of the problem. More specifically, the modern, robust control ? design methodologies of H infinity and l 1 are established for the hybrid multirate problem. In addition, stability robustness and performance robustness non conservative criteria, which can be directly incorporated into the design process, are provided for the hybrid multirate system. Furthermore, the case of asynchronous sampling is investigated in the hybrid multirate framework and analysis and synthesis tools emerge. The above results are integrated into user friendly computer software in order to be easily used in multirate applications. Finally, an inherently multirate experiment, where computer vision is utilized for feedback to the motion control system of a two link direct drive, is used for testing and evaluating the analytical developments. ***