The IMC structure of multi-rate multivariable predictive control systems and an improved algorithm

Multirate multivariable predictive control system with the sampling mechani sm that adjusts the plant inputs only once but detects the plant outputs se veral times during a period is examined. The IMC structure of the system is derived, and its robust stability and zero steady state error characterist ics are analyzed. A new control algorithm is developed by adding the variat ion of the outputs to the index performance. The simulation results show th at the method is effective and has zeros steady-state error.