Design and Real-Time Implementation of a 2-Rate Control in CPS-Like Environment
Suchetan Salui, Arun Ghosh · IEEE Transactions on Aerospace and Electronic Systems · 2025
This paper employs a recently proposed 2-rate multivariable controller for a laboratory-based two degrees of freedom (2-DOF) helicopter system augmented with a non-minimum phase (NMP) zero, for superior compensation in cyber-physical system (CPS)-like environment. The lifting technique is used to transform the 2-rate feedback system into an equivalent linear time-invariant (LTI) form. As the 2-rate action can make the equivalent LTI plant minimum phase, the proposed controller is shown to outperform its LTI counterpart in several aspects. In addition to improvements in classical loop margins, it is shown through real-time experiments that the 2-rate controller is superior in some CPS-like environments, namely the presence of zero-dynamics cyber-attack, signal-to-noise ratio (SNR) constraint, and quantization error in the communication channel of CPS.