A class of pulse-width modulated (PWM) systems that includes many switched-mode power converters is considered. A new multirate low-frequency sampling PWM scheme is introduced that not only provides the possibility for new types of operation, but also unifies the switching logic corresponding to established PWM schemes. An exact nonlinear discrete-time model is used to develop multirate nonlinear controllers and observers based on map-inversion concepts. This nonlinear design methodology is widely applicable, requiring only that the continuous-time small-signal average model be controllable and observable.
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