A design strategy of optimal output regulators for dual-rate discrete-time systems, whose output sampling period is an integer\nmultiple of the input updating period, is proposed. At first, by using the discrete lifting technique, the dual-rate discrete-time\nsystem is converted to a single-rate augmented system in form and the lifted state-space model is constructed. Correspondingly,\nthe performance index of the original system is modified to the performance index of the single-rate augmented system. And\nthe original problem is transformed into an output regulation problem for the augmented system. Then, according to the optimal\nregulator theory, an optimal output regulator for the dual-rate discrete-time system is derived. In the meantime, the existence\nconditions of the optimal output regulator are discussed. Finally, a numerical example is included to illustrate the effectiveness of\nthe proposed method.
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