# A Quantitative Framework for Layered Multirate Control: Toward a Theory of Control Architecture

> Research article (IEEE Control Systems, 2024) · cited 31× · AI/ML

**Wikidata**: [openalex:W4399563158](https://www.wikidata.org/wiki/openalex:W4399563158)  
**Source**: https://4ort.xyz/entity/a-quantitative-framework-for-layered-multirate-control-toward-a-theory-of-control-architecture