Design of Multi-rate Optimal Regulator for an Inverted Pendulum

A time-invariant, single-rate design approach for multi-rate optimal regulator is presented. The design of a multi-rate system is converted to a single-rate system design problem by using‘lifting’ technique. As an example, a typical problem in the researchof control, the control of an inverted pendulum on a cart is studied. The feasibility of the proposed method is verified by the simulation results.