Improved closed-loop stability for fixed-point controller realizations using the delta operator

DOI10.1002/1099-1239(200101)11:1%3C41::AID-RNC546%3E3.0.CO;2-OMaRDI QIDQ2710021zbMATH OpenFDO

Authors Tinglun Song, Robert H. Istepanian, Emmanuel G. Collins

Publication date 16 October 2001

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/1099-1239(200101)11:1%3C41::AID-RNC546%3E3.0.CO;2-O

zbMATH Keywords

\(H_\infty\) controldelta operatordiscrete-time systemfinite word lengthforward-shift operatorstabilitystate-space approachteleoperation system

Mathematics Subject Classification ID

(H^infty)-control (93B36) Discrete-time control/observation systems (93C55) Control/observation systems involving computers (process control, etc.) (93C83) Robust stability (93D09)

Review text

Due to truncation errors, a stable closed-loop system may achieve a lower than predicted performance or even become unstable when the infinite precision control law is implemented with a fixed-point digital processor. To improve the closed-loop stability when the control law is implemented, the authors develop a state-space approach that selects the control law realization to optimize a stability-related objective function using the delta operator. They derive a mapping function between the optimal delta and forward-shift finite-precision control law realizations and it is shown both analytically and numerically that for sufficiently fast sampling the optimal delta realizations have better finite word length properties than the optimal forward-shift realizations. Furthermore, a delta \(H_\infty\) control law has been designed for a teleoperation system and a comparison has been made between the delta control law and the forward-shift control law which demonstrates the improvement of a closed-loop stability by using the delta representation.

Recommendations

• Comparative study on optimizing closed-loop stability bounds of finite-precision controller structures with shift and delta operators
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• Robust covariance output feedback controllers design for Delta operator systems

Cites work

• scientific article; zbMATH DE number 53586 (Why is no real title available?)
• Sampling in digital signal processing and control

Cited in

(4)

• Comparative study on optimizing closed-loop stability bounds of finite-precision controller structures with shift and delta operators
• A limitation to the use of a constructive approach in the stability analysis of fixed-point digital controllers
• A delta transform approach to loop gain‐phase shaping design of robust digital control systems
• Insensitive output feedback H_∞ control of delta operator systems with insensitivity to sampling time jitter

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