An optimization algorithm for decentralized digital control of continuous-time systems which accounts for inter-sample ripple

An algorithm is proposed to design a decentralized digital controller, such that a quadratic performance index is minimized with the property that the inter-sample ripple of the output signal is included in the minimization procedure. The algorithm has the property that it can be applied to either centralized or decentralized systems, which are sampled with either a ZOH or a generalized sampled-data hold function. Numerical examples of the algorithm are included to show the effectiveness of the algorithm.