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A dual-rate control system is a hybrid system composed of continuous-time anddiscrete-time elements with two sampling frequencies. In this work, a newfrequency domain analysis and design approach, based on the QuantitativeFeedback Theory (QFT) is developed, to cope with robust stability and trackingspecifications. Tracking specifications are considered not only in thediscrete-time but also in continuous-time, that allow a precise description ofthe intersample behavior (ripples), and characterization of frequencies belowand beyond the Nyquist frequency. Several illustrative examples and a casestudy has been developed.

A QFT approach to robust dual-rate control systems