Intersample vibrations in sampled-data mechanical systems

Haba, Tamás and Budai, Csaba (2024) Intersample vibrations in sampled-data mechanical systems. In: Investigating Dynamics in Engineering and Applied Science (IDEAS 2024), 2024.07.29-2024.07.31, Budapest, Hungary.

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Abstract

Motion control tasks of mechanical systems are usually realized through sampled-data systems, where the continuous-time plant is controlled by a discrete-time control law. Recent studies suggest that sampled-data systems exhibit infinite-dimensional dynamical behavior, which can result in multi-frequency oscillations, even in 1DoF mechanical systems. These phenomena can be explained by intersample vibrations, which are omitted by traditional discrete-time models. In this work, we show a Laplace transform-based analytical approach to reconstruct the continuous-time response of sampled-data linear systems. The presented method can describe the intersample dynamics with arbitrary precision, as illustrated via the balancing task of an inverted pendulum

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