Linear Matrix Inequalities in Multirate Control over Networks

Table 1

LMI decay rate for the dual-rate PD controller (robust stability).

Max. delay	Scheduled	Nominal
bound (in s)	PD	PD
0.1	0.42	0.59
0.15	0.63	0.73
0.20	0.84	0.84
0.30	1	0.99