I have a 1-DOF electromechanical application whereby I am controlling the contact-force at the tip of the end-effector.
The force sensor on the end-effector unfortunately gives me force data and an incredibly low sampling rate at 20 Hz, and I cannot do anything about it.
I generated a linear model for my plant and determined I will probably need a sampling rate of at least 320 Hz to follow the rule of thumb (Ts is 1/10th of your time constant). With the current setup, I of course have poor disturbance rejection (i.e., when the surface moves into the end-effector) with a PI controller .
Fortunately, the wall motion is periodic and fairly predictable. I implemented a modified Smith predictor that can reject periodic disturbances. This works fairly well but I am interested in exploring other options. Is there anything else I can take a look into that may help with this situation? For instance, I was considering taking a look into implementing a Kalman filter, since I can use it to predict the next sample in the loop, which may improve performance - I am not sure if that is right.