document: Generalized predictive control for non-uniformly sampled systems In this paper , we study digital control systems with non-uniform updating and sampling patterns , which include multirate sampled-data systems as special cases . We derive lifted models in the state-space domain . The main obstacle for generalized predictive control -LRB- GPC -RRB- design using the lifted models is the so-called causality constraint . Taking into account this design constraint , we propose a new GPC algorithm , which results in optimal causal control laws for the non-uniformly sampled systems . The solution applies immediately to multirate sampled-data systems where rates are integer multiples of some base period
doc_bio_tags: O O O O B I I O O O O O O B I I O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O B O O O O O O O O O B I O O O O O O O O O O O O B O O O O O B I I I O O B I I O O O O O O O O O O O O B I O O O O