Asymptotic Sampling Behavior for a Class of Nonlinear Robot Systems in Multirate Case

The manuscript aims the stability of the two degree of freedom robot systems based on the corresponding discrete-time plant, which can generate from the sampling in the case of a new multirate input and hold. Furthermore, the asymptotic expression and stable conditions of discretization robot model and corresponding sampling zero dynamics are also desired. Moreover, the control strategy of the corresponding robot plant is acquired by using the sampling zero dynamic stable approach.