Towards widespread use of sampled-data control theory: Development of CACSD package and practical applications

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A CACSD package for sampled-data control theory has been developed and the effectiveness of sampled-data control theory has been confirmed through several practical applications with experiments.The CACSD package is based on MATLAB and utilize the object-oriented features of the recent versions of MATLAB. A number of computational algorithms has been also developed for the implementation of the package, as well as practical design algorithms.Applications we have tried in this research project includes: hard disk drive, ultra sonic motor, active noise cancel system, and planar manipulator. In comparison to conventional design based on continuous-time theory, the sampled-data design work well in both robustness and performance.