Interlacing in Controllers Implementation: Frequency Analysis

The main goal of this contribution is to explain how to use interlacing techniques for LTI controllers implementation and analyze different struc- tures in this environment. These considerations lead to an important com- putation saving in constrained resource environments. It has been also intro- duced new procedures for obtaining the blocks related to different real and complex controllers poles. The resultant time-varying system is modeled using proper discrete lifting techniques and a new and efficient dual-rate fre- quency response computation allows to determine the characteristics of the control loop with interlaced controller. Examples illustrate the theoretical proposals.