Continuous Drive with continuous-time cascade controller
	SubClocked Drive with clocked cascade controller where clocks are defined with sub-sampling and partitions with super-sampling
	SuperSampled Drive with clocked cascade controller where fastest partition is defined with a clock and slower partition is defined with super-sampling
	AbsoluteClocks Drive with clocked cascade controller where all partitions are defined with exact (integer) clock that need to be compatible to each other

This information is part of the Modelica Standard Library maintained by the Modelica Association.

This package shows the same example in different variants.

Model CascadeControlledDrive.Continuous is the continuous-time model from which the sampled-data versions are derived. The "CascadeControlledDrive" example adds another position control cascade to the SimpleControlledDrive example. This model demonstrates a control system with two cascaded control loops. The goal is to control the angle of the load inertia.

The other example models under this package show different variants how the continuous-time model from above can be transformed to a periodic sampled-data system with two sample periods, where the two discrete-time controllers are precisely time-synchronized to each other.