Development of Hold Methods Suited for Multivariable Digital Adaptive Control

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1. Analysis of stability of zeros for multivariable systems with fractional-order holdsWhen a fracional-order hold is applied as a hold, the stability of zeros is analyzed theoretically. It is cleared that the fractional-order hold can improve the stability properties of zeros compared with a zero-order hold.2. Analysis of stability of zeros for multivariable systems with approximate fractional-order holdsWhen a fracional-order hold is implemented by an approximate fractional-order hold, the stability of multivariable zeros is analyzed theoretically. It is cleared that the approximate fractional-order hold has the same properties of stability of zeros as the ideal fractional-order hold. As a result, the approximate fractional-order holds can improve the stability properties of zeros compared with a zero-order hold.3. Experimental confirmation of the advantages of the approximate fractional-order holds through adaptive controlWe implemented the approximate fractional-order holds with two and three steps, and confirmed the effectiveness of the approximate fractional-order holds experimentally.4. Development of softwere for control system analysis with fractional-order holdsMATLAB software was developed for system analysis when fractional-order holds or approximate fractional- order holds are used for design of multivariable digital control systems. The software is opened in the internet. The address is as follows:http://www.mech.kumamoto-u.ac.jp/Info/lab/control/zeroopen.html