Multilayer control
Multilayer control operation or structure of the control system with the (multilayer) controller decomposed into two or more control layers, usually in case of the controller with two control layers one uses the terms two-layer control and two-layer controller. Typically within the multilayer control hierarchy the frequency of interventions made by control layers decreases as one moves up the hierarchy.
Source: http://ee.sharif.edu/~lcsl/useful/Electrical%20Engineering%20Dictionary.pdf
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Author of the text: Ed. P.A. Laplante Boca Raton: CRC Press LLC, 2000
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