Title:Trajectory planning and tracking control for multiple-input multiple-output,linear time-invariant, sampled data systems in continuous timeAuthor(s):Sven-Olaf LindertAbstract:In applications, usually sampled data controllers are employed. If the sampling time is sufficiently small, the sampled data structure may be neglected and the system is treated quasi-continuously. If the sampling time is longer, the system is treated in discrete time neglecting the behaviour in between the sample instances and the z-transform is used. This article combines these two approaches. The plant is driven by an input which consists of a sequence of values and a function forming the actuating variable. By use of the modified z-transform, the plant is modelled by a parametric transfer function matrix, whose additional parameter discloses the behaviour between sampling instances. Thus, the output signal is calculated not only at the points of sampling. A right co-prime matrix-fraction description is derived. Building on that description, basis variables are defined in the z-domain. The corresponding basis sequences can be chosen arbitrarily and with them the input sequences and the output functions are fixed and can be calculated without solving a differential or difference equation. This mathematical fact is applied to plan trajectories in continuous time. Hence, the entire output trajectory in continuous time can be taken into account. A tracking controller may be added to ensure that the disturbed system complies with the plan.Journal:Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Eng.Publisher:Sage PublicationsISSN:0959-6518Page Reference:page 258-268, 11 page(s)Publishing:11/2014Volume:228Number:10