SIMULATION OF MULTIRATE CONTROL SYSTEMS IN

MATLAB/SIMULINK
Carlos M. Vlez S.
Universidad EAFIT. Departamento de Ciencias Bsicas. Cra. 49 No. 7 sur 50. Medelln, Colombia.
E- mail: cmvelez@eafit.edu.co
Julin Salt
Universidad Politcnica de Valencia. Departamento de Ingeniera de Sistemas y Automtica. 22012. E46071. Valencia, Espaa. E- mail: jsalt@isa.upv.es

Abstract - In the work are presented some tools for

simulation of SISO and MIMO multirate control
systems in MATLAB/SIMULINK 5.2. The tools are
illustrated with an example. In the toolbox are
designed functions to Kranc (cases SISO and MIMO)
and Araki-Yamamoto modeling methodologies.
Nevertheless, the functions can be extended to other
cases. It is consider the following cases: linear time invariant representation, SISO and MIMO systems,
regular and irregular sampling schemes, arbitrary
sampling policy.
Index Terms - Matlab/Simulink Toolbox, multirate
modeling, sampled-data systems.

Yamamoto modeling methodologies. Nevertheless, the

functions can be extended to other cases. It is consider the
following cases: linear time-invariant representation,
application to SISO and MIMO systems, regular (that is,
although each variable can be sampled with an arbitrary
period, this is constant) and irregular (that is, each
variable is arbitrary sampled in irregular intervals;
however, the sequence is repeated each frame period To )
sampling schemes, arbitrary sampling policy. It is
presented a generalization of the previously mentioned
results to the case of MIMO MR systems with irregular
sampling periods. From this model can be deduced other
models and cases.

2.
1.

MULTIRATE MODEL

INTRODUCTION

Over the last 40 years diverse techniques have been

proposed (see [7], [8]) and used for the analysis and
design of multirate systems (MR). Frequencial and
temporal methods were proposed: Kranc ([12], [19], [20]),
Araki et al ([4], [5], [6], [10], [11]), Godbout et al
([3],[9]), Meyer ([13], [14]), Longhi [21], Salt ([15], [16],
[17]), Albertos ([1], [2]). A common fact in these
approaches is the representation by means of a linear
time-invariant state equation of the MR system. The
equation is given to a To period (frame-period), even to
the least common multiple of all sampling periods in the
system and contains more inputs and outputs that the
original system. Several authors have shown that this
representation preserves many of the properties of the
original MR system (reachability, controllability,
observability, stability).
In this work are presented some tools for simulation of
SISO and MIMO multirate control systems in
MATLAB/SIMULINK 5.2. ([18], [22]). The tools are
illustrated with examples. In the toolbox are designed
functions to Kranc (cases SISO and MIMO) and Araki-

An irregular multirate system of order n with m inputs and

p outputs will be considered. The sampling scheme is
shown in the Figure 1.

Figure 1 Irregular multirate sample

T is the base period and To is the frame period.

T o = NT

(1)

~
T j are the sampling instants of input signal j. For the

x( k + 1)T ) = Ax(kT ) + Bu ( kT )

y( kT) = Cx( kT) + Du( kT)

case of regular sample:

A = A(T ) = e

~
T~j = ( 1)T~j , = 1,2,..., N j

(2)

B = B (T ) = e

~
N j is the number of samples of input j in the frame period

C1

C= M ,D=
C p

(3)

Ti are the sampling instants of output signal i. For the

case of regular sample:

Ti = ( 1)Ti , = 1,2,..., N i

Where
(5)

(Figure1).
~
Nj

~l
=1

=N

(6)

~
A = AN
~
B = B 1D
~ = CD
C

D
2

D
m

D
2

D T
p

D
ij

D
ij

b
(7)

The model of continuous system is:

(8)

u = [u1 L um ] , y = y1 L y p , x = [x1 L xn ]
T

D
i

( 11 )

D
i

D
ij ,

D
j

=A

l j
~

=1

l i
X~l j B j , c = Ci A =1
D
i

l j 1

dijD, = Ci ij , ( q) B j + ij ,
q =0

1
1
r
~ ~
A , if r = q + li l j lj 0
ij , (q) =
=1
=1
0
in other cases

1
1

~
~
dij , if 0 li lj < l j
ij , =
=1
=1
0
in other cases

l i .

x& = A p x + B pu

y = Cp x + D pu
where,

D
j

~
~
~
~ T j ( 1)T j T j ~
l j =
=
= lj
T
T
Even is defined

D
j

Definition of factors in the equation (11):

For the regular sample:

( 10 )

[ B L B ], B = [b ]
[ C L C ] , C = [c ]
~
D = [D ] , D = [d
]

~
l j is the dimension of each sampling interval of input j
~
~
T j , + 1 T j
~
,
l j =
T

(9)

D1

M
D p

~
~
x((k + 1)To ) = A
x( kTo ) + Bu D ( kTo )
D
~
~
y ( kTo ) = Cx( kTo ) + Du D ( kTo )

Ni is the number of samples of output i in the frame period

To .

Ti1 = 0 , Ti , N i +1

B p d , B = [B1 L B m ],

These matrices A, B, C, D have the proper dimensions. By

mean of progressive substitutions, it is possible to obtain
the following MR model:

(4)

= To , N = N1 + ... + N p

Ap

To .

~
~
T j 1 = 0 , T j , N~ +1 = To , N = N~1 + ... + N~ m

ApT

( 12 )

The matrices in (10) have the following form:

x(kT) = [ x1(kTo ) x2(kTo) L xn(kTo)]

T
~
~
~
uD(kTo) = u1(kTo + T11) u1(kTo +T12) L u1(kTo + T1N~1 ) | L (13 )
T

It is considered that the continuous system is controllable

and observable. The discrete model of the plant to base
period T is:

[
y (kT) = [ y (kT +T )
D

~
T11 = T11 = 0

11

y1(kTo + T12) L y1(kTo + T1N1 )

]
| L]

To ~
T
, N j = ~o
Ti
Tj
~
~
N = l.c.m.( N1,...,N m , N1 ,...,N p )

The dimensions of the vectors and matrices are:

dim(x) = n 1
dim(u D ) = N 1
dim(y D ) = N 1

~
dim(A ) = n n
~
dim(B) = n N
~
dim(C) = N n
~
dim(D) = N N

To = NT , N i =

( 14 )

N ~
N
~
, l j = ~ , Ti = liTo , T~j = l jTo
Ni
Nj
N = N1 + ... + N p , N = N~1 + ... + N~m

li =

i = 1, 2,..., p , j = 1, 2,...,m

Features of obtained multirate model methodology:

~
= 1, 2,...,N i , = 1, 2,...,N j

It is possible to model multirate systems with regular

and irregular sampled schemes.
Linear time-invariant representation.
It is able to consider arbitrary number of inputs and
outputs (SISO and MIMO systems).
~
Causal representation (see the form of D ).
System of minimal dimension.
Easy deduction of particular cases.

Actually a methodology for modeling systems with

different sampling sequences has been exposed. It is
possible to connect subsystems with different sampling
policies in order to get a proper simulation model in these
difficult cases.

4.

DEDUCTION OF OTHER PARTICULAR CASES

4.1. ZOH Kranc SISO Model

The following case is considered:

~
~
m = p = 1 , n = N1 = To /T1 , N1 = To /T1
~)
k = N = l.c.m.( N , N
1

~
A = Ak ,
b =A

DEDUCTION OF REGULAR MULTIRATE CASE

From general model (10) it is possible to obtain particular

cases easily (MRIC, MROC, Kranc). For the case of
regular multirate sample the matrices in model (10) take
the following form:

bDj = A

~
N l j

ciD = Ci A

X ~l j B j , X ~l j = I + ...+ A

( 1) li
~

(15)

D
ij ,

See Thompson [19], Meyer [14], Longhi [21] for similar

expressions.
Definition of parameters in the equation (15):

[ ] [ ]

~
B = B1D = b 1D , = 1, 2,...,m

( m 1) k / m

XB,

X = I + ...+ A k / m1

k / m1
~
D
D = D11
= d11D, = C
q =0

[ ] [

( 17 )

(q) B +

4.2. MRIC (Multirate Input Control) Model

A more general case that the model is the following: all
the outputs are measured to the same To period, but each
~
~
input is sampled to a period T j = To / N j . Here,

~
l j 1

l j 1

d
= Ci ij , (q) B j + ij ,
q= 0

~
A r if r = q + ( 1)li ( 1)~
l j lj 0
ij , (q) =
in othercases
0
~ ~
d if 0 ( 1)li ( 1) l j < l j
ij , = ij
in othercases
0

The model is:

D
1

3.

( 16 )

~
~ , = 1,2,..., N~
N i = 1, li = N , N~ j = T o / T~j , l j = N / N
j
j
~
~
N = p, N = N 1 + ... + N m
The model is:

Nj m

x
((
k
+
1
)
T
)
=
A
(
T
)
x
(
kT
)
+
Bj (T~j )u j ( kTo + ( 1)T~j )

o
o
o

=1 j =1
y (kT ) = Cx(kT )

o
o

5.

MULTIRATE TOOLBOX

In the toolbox was implemented the following blocks (as

SIMULINK S-Functions):

(increment
s of B)

Nj m

x
((
k
+
1
)
T
)
=
A
(
T
)
x
(
kT
)
+

Bj (To ( 1)T~j )uj (kTo )

o
o
o

=1 j =1
(18)
y (kT ) = Cx(kT )

o
o

(increment
s of inputs)
with
Bij (T~j ) = A(T~j ) N B j (T~j ) = B j (To ( 1)T~j ) B j (To T~j )
and
u j (kTo) , if = 1
uj =
~
~
u j (kTo ( 1)Tj ) u j (kTo ( 2)Tj ), in othercases

Kranc
Operator

Araki-Yamamoto
Operator

Regular Compact
Operator

Irregular Compact
Operator

Regular Multirate
System

Irregular
Multirate System

Figure 2 Multirate Toolbox Blocks

4.3. MROC (Multirate Output Control) Model

The results of multirate discretization can be obtained too
in MATLAB Workspace. The blocks "Regular Compact
Operator" and "Irregular Compact Operator" correspond
to the models described in (10) - (15). The blocks
"Regular Multirate System" and "Irregular Multirate
System" allow the simulation of any multirate controller.
In they only is necessary specify the matrixes
~ ,B
~ ,C
~ ,D
~ ] and the sampling periods (for regular
[A
R
R
R
R
or irregular cases). In the following simulation diagrams
are applied the above blocks. The implementation of
simulation is easy and logical . The simulation is
structured in an hybrid manner, that allow examine the
intersample behavior.

Now, the following case is considered:

~
Ti = To /N i , T j = To
~
~
N i = To /Ti , N j = 1 , li = N / N i , l j = N
= 1,2,..., N , = 1
The model is:

x(( k + 1)To ) = A(T o ) x( kTo ) + B(To )u (kTo )

D
~
~
y ( kTo ) = Cx( kTo ) + (L 1CB + L 2 D)u (kTo )
where,

L1

and

0
X
li
= diag block
M
i = 1 , 2 ,..., p

X l i

1
1

1
= 0

0
M

0
M

0
0
M

0
0
M

0
1
1

0
0
0

M
1
M

M
0
M

0
0
M
X li
L
L
L
L
L
L
M

L
O
L

0
M
X li

0
0
M

Reference

+ ... + N

) (N

dim( L 2 ) = ( N

+ ... + N

) p

+ ... + N

s 2+2s+0.75

Regulator

Plant

Scope

Figure 3 Simulation Diagram of a SISO Multirate

System

0
0
M

0
0

0
M

0
M

dim( L 1 ) = ( N

Kranc
Operator

Figure 4 Simulation Diagram of a MIMO Multirate System

Some dialog boxes:

6.

EXAMPLE

See now a specific application example: system with 2

inputs and 2 outputs ([4], [9]).
Model of continuous plant:

0
0
2.5 0
2.5
4 1 0

x= 0
2 0 x + 10 1.2 y =
x

1 / 3 0 1
0

0 1
1
5 / 6

Dynamic continuous compensator:

0
0 0
1 0

xc = 0 0
0 x c + 0 1 e

1 0 2. 5
0 0
6 / 13
0
20 / 13
10 / 13 12 / 65
u =
xc +
e

0
25 / 26 10 / 13 25 / 52
0

Sampling scheme:
Input 1:
Input 2:
Output 1:
Output 2:

T~1 = [0
T~2 = [0
T1 = [0
T 2 = [0

Figure 5 Diagram of simulation

0. 15 0.2]
0.15]
0. 15 0.2]
0.15 0.25]

In Figure 6 the results of simulation are shown (see the

irregular sampling).

SYSTEM OUTPUTS

Obviously, input and output sampling periods are referred

to the compensator.

5
4.5

~ = 3, N~ = 2, N = 3, N = 3, N = 5, N = 6
N
1
2
1
2
T o = 0. 3, T = 0.05
~
l1 = [3 1 2], ~
l2 = [3 3], l1 = [3 1 2], l 2 = [3 2 1]
Using (10-(12) the calculate multirate compensator is:

4
3.5
3
2.5
2
1.5

0
0
1
~

AR =
0
1
0

0. 2111 0 0.4724

1
0.5
0

0. 05
0.1
0
0
0. 15
~

BR =
0
0
0
0. 15 0. 15

0. 0256 0. 0054 0. 0046 0

0
0
1. 5385 0. 4615
1. 5385 0. 4615
0

1. 5385 0. 4615
0
~
CR =

0. 9615 0.7692 0.4808

0.9014 0.7692 0.3304

0.8722 0.7692 0. 2573

0
0
0.7692
0. 2308
0. 7692
0

0. 0769
0. 7692
~ = 0. 2308
D

R
0
0
0

0. 1394
0
0

0.1341 0. 0464 0. 0475

0. 1846
0
0. 0692 0. 1846

0. 0692 0.2077

0
0
0. 1154
0

0. 1154 0. 0769

5
6
Time (second)

1.4

1.6

1.8

10

CONTROL SIGNAL
4
3.5
3
2.5

2
1.5
1
0.5
0

0.2

0.4

0.6

0.8
1
1.2
Time (second)

Figure 6 Results of simulation

CONCLUSIONS
Useful functions for MATLAB/SIMULINK to analysis of
multirate control systems were presented. Particularly, the
toolbox contain functions that implement Kranc Operator,
Araki-Yamamoto Operator, Regular Compact Operator
and Irregular Compact Operator. To facility the design, a
general irregular multirate model were used, which was
detailed presented in work. This model allow the
simulation of other cases exposed in the literature.
The good results of simulation validate all functions.
The tool represent a nice and intuitive path to study
multirate systems. It is easy to implement other possible
modeling methodologies.
The authors work in the development of tools to
MATLAB/SIMULINK to facility the design of multirate
compensators.

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