A ripple-free dual-rate control system is designed for a single-input single-output dual-rate system, in which the sampling interval of a plant output is longer than the holding interval of a control input. The dual-rate system is converged to a multi-input single-output single-rate system using the lifting technique, and a control system is designed based on an error system using the steady-state variable. Because the proposed control law is designed so that the control input is constant in the steady state, the intersample output as well as the sampled output converges to the set-point without both steady-state error and intersample ripples when there is neither modeling nor disturbance. Furthermore, in the proposed method, a two-degree-of-freedom integral compensation is designed, and hence, the transient response is not deteriorated by the integral action because the integral action is canceled when there is neither modeling nor disturbance. Moreover, in the presence of the modeling error or disturbance, the integral compensation is revealed, and hence, the steady-state error is eliminated on both the intersample and sampled response.