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论述了机器人多传感器多速率采样控制系统的设计问题．讨论了采样速率的选择原则，描述连续域被控对象经多速率采样后的数学模型，并推导出有约束最优控制的设计方法，最后给出两关节机械手多速率采样控制系统的设计实例．仿真结果表明，该方法实用可行，设计结果较同运算量的单速率采样系统为优．
The design of robots multi-sensor multi-rate sampling control system is discussed. The selection principle of sampling rate is discussed. The mathematical model of multi-rate sampled objects in continuous domain is described, and the design method of constrained optimal control is derived. Finally, the design example of multi-rate sampling control system with two-armed manipulator is given. The simulation results show that this method is practical and feasible, and the design result is better than the single rate sampling system with the same computation.