Based on the multi-rate output theory and time-delayed algorithm, a kind of multi-rate output disturbance observer is presented, the deducing process and stability conditions of which are also given.

• 摘要基于输出多采样率反馈理论与时滞估计原理，提出一种输出多采样率扰动观测器，给出了推导过程及稳定条件。