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Ripple-free design for an SISO dual-rate control system

The present study proposes a design method for a single-input single-output dual-rate control system, in which the sampling interval of the plant output is twice the hold interval of the control input. In such a dual-rate control system, intersample ripples might occur even if the discrete-time response converges to a reference input because the control input can be updated between sampling intervals. The present study proposes a new design method for eliminating the intersample ripples without changing a pre-designed discrete-time response. In the proposed method, a pre-designed control law is extended using redundant input in the dual-rate control system, and the intersample response is enhanced independent of the discrete-time response.