Multirate sampling method for acceleration control system

Mariko Mizuochi, Toshiaki Tsuji, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

69 Citations (Scopus)


This paper focuses on the realization of high-performance motion control based on acceleration control. A disturbance observer is used to construct an acceleration control system. A high sampling frequency is known to be effective for improving the performance. Characteristics of acceleration control are investigated to discuss the relationship between the performance and a sampling frequency of the system. The needs for a high sampling frequency for an output are then described. Based on these considerations, a novel multirate sampling method for the acceleration control system is proposed. An output sampling period is set shorter than an input sampling period, and control calculation is executed at each output sampling period in the method. The disturbance observer is redesigned for application to the multirate system. Stability analysis is performed to verify the validity of the proposal. Feasibility of the proposed method and its influence on the performance are also verified by experimental results.

Original languageEnglish
Pages (from-to)1462-1471
Number of pages10
JournalIEEE Transactions on Industrial Electronics
Issue number3
Publication statusPublished - 2007 Jun
Externally publishedYes


  • Acceleration control
  • Disturbance observer
  • Motion control
  • Multirate control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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