# Preactuated Multirate Feedforward Control for Independent Stable Inversion of Unstable Intrinsic and Discretization Zeros

> Research article (IEEE/ASME Transactions on Mechatronics, 2019) · cited 29× · AI/ML

**Wikidata**: [openalex:W2911610270](https://www.wikidata.org/wiki/openalex:W2911610270)  
**Source**: https://4ort.xyz/entity/preactuated-multirate-feedforward-control-for-independent-stable-inversion-of-unstable-intrinsic-and-discretization-zero