Asynchronous Multi-rate Sampled-data Control: an Embedded Model Control Perspective

This study presents an estimation and control method for systems with asynchronous measurements with time-stamp. This approach is developed within the framework of Embedded Model Control (EMC), a control design methodology based on the estimation and the active rejection of the uncertainties affecting the plant to be controlled. The proposed control approach allows us to deal with control applications in which the measurement or the control law are characterized by a variable sampling time. Most notably, the proposed algorithm is capable to manage delays and package dropouts, potentially affecting networked control systems, by leveraging not only the sensors measurement information but also their time-stamp.