Two-degree-of-freedom Generalized Predictive control for integral compensation in a multirate system

Takao Sato, Hiroyuki Yanai, Akira Yanou, Shiro Masuda

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)


This paper proposes a new method for designing a multirate control system, in which a sampling interval of plant output is an integer multiple of a hold interval of a control input. To employ the effect of integral compensation in the multirate system, two-degree-of-freedom (2DOF) Generalized Predictive Control (GPC) is proposed only when there is a modeling error or disturbance. In this paper, a one-degree-of-freedom (1DOF) multirate GPC without integral compensation is first derived, and next the 1DOF multirate GPC is extended into 2DOF control using integral compensation. Numerical examples demonstrate the effectiveness of the proposed method.

Original languageEnglish
Pages (from-to)3287-3294
Number of pages8
JournalInternational Journal of Innovative Computing, Information and Control
Issue number10
Publication statusPublished - Oct 1 2009


  • Generalized Predictive Control
  • Integral compensation
  • Intersample ripple
  • Multirate system
  • Two-degree-of-freedom system

ASJC Scopus subject areas

  • Software
  • Theoretical Computer Science
  • Information Systems
  • Computational Theory and Mathematics


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