Advances in High-Performance Motion Control of Mechatronic Systems

4

Precise Positioning Control in Sampled-Data Systems

T. Atsumi

Hitachi, Ltd.

CONTENTS

4.1    Introduction

4.2    Sensitivity and Complementary Sensitivity Transfer Functions in Sampled-Data Control Systems

4.2.1    Relationship Between Continuous- and Discrete-Time Signals

4.2.2    Sensitivity and Complementary Sensitivity Transfer Functions in Sampled-Data Control Systems

4.2.3    Sampled-Data Control System Using a Multi-Rate Digital Filter

4.3    Unobservable Oscillations in Sampled-Data Positioning Systems

4.3.1    Relationship Between Oscillation Frequency and Unobservable Magnitude of Oscillations

4.3.1.1    Definition of Unobservable Magnitude of Oscillations

4.3.1.2    Oscillations at the Sampling Frequency

4.3.1.3    Oscillations ...