CONTINUOUS-, DISCRETE- AND SALMPLED-DATA- 'Hm CONTROL - A UNIFIED FRAMEWORK

We present a unified and general framework for R,-control in both continuous time, discrete time and combinations of these. The general result is a hybrid continuous-/discretetime Z,-controller. Using a compact hybrid notation, the work shows a close relationship between the continuousand discrete-time solutions. In fact, the pure continuous and discrete time equations may be obtained as two similar interpretations of the general result. There are no assumptions made on certain system matrices being zero or normalised, e.g. Dll = 0. The method is Riccati equation (RE) based, and it is shown how the continuous RES can be “lifted” into discrete ones reflecting the system behaviour during the period. Typical applications are control of continuous-time or discrete-time periodic .systems, as well as multirate and sampled-data control, including mixed continuous and sampled-data measurements.