![]() In a numerical example, the proposed method is applied to a linear time-invariant single-input single-output stable system, where intersample ripples are eliminated using the add-on input that is independent of the existing sample output response in steady state. In the present study, a two-degree-of-freedom design is given that redesigns the intersample output response independently of the steady-state sampled output response. The open-loop or closed-loop system to obtain the step response is assumed to be stable. ![]() To achieve the objective directly from controlled data, an add-on input based on the null space of steady-state step responses to an existing control system is used. The objective of the present study is to improve the steady-state intersample response without changing the sampled response and without using the plant model. In the present study, a data-driven ripple-free design is proposed for a dual-rate sampled-data control system in which the sampling interval of the plant output is longer than the holding interval of the control input. The improvement in fast-tracking performance as well as the ripple-free property are demonstrated through both the numerical and experimental results. The filter is designed as an integrator for weighting the low-frequency domain. In this study, intersample oscillations caused in such a dual-rate control system is prevented because a weighting filter is introduced for penalizing the control input deviation between the sampling instants. In D-VRFT, a controller is decided using a set of input/output data used in S-VRFT, and it is easy to extend S-VRFT to D-VRFT and implement D-VRFT. In our proposed method, single-rate virtual reference feedback tuning (S-VRFT), where the holding interval is the same as the sampling interval, is extended to the dual-rate virtual reference feedback tuning (D-VRFT) system. In this study, a data-driven design method is proposed for a dual-rate system, where the sampling interval of a plant output is restricted and is an integer multiple of the holding interval of a control input. ![]()
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