Implementation of a digital control algorithm with multiplexed variable feedback

Abstract

In this thesis, a digital control algorithm using mutiplexed state variable feedback is developed and implemented on a microcomputer. Since the number of inputs sampled simultaneously when a control signal output is updated depends on the hardware configuration, one may be often faced with computational delays not accounted for in the calculation of the state variable feedback gains. Such computational delays may result in an undesirable system response, especially if the controlling device is slow. A state variable feedback control algorithm is developed which will account for these delays as well as non-simultaneous measurements. An application of this method to tracking problem is then presented.