Quadratic stabilization of sampled-data systems with quantization. (Q1413944)

The influence of sampling and quantization on stability for linear time-invariant systems is investigated. In the first part, a bound for the sampling period for the closed-loop system without quantization is derived. By solving a Riccati equation, an optimal gain is calculated. A control Lyapunov function is defined and a decay rate depending on the sampling rate is introduced. By estimating bounds for the state trajectories during the sampling period, a procedure for determining the sampling period and for constructing a stabilizing controller is presented. In the second part, the previous results are extended to quantized sampled-data systems. Uniform and logarithmic quantizers are considered. A procedure for constructing stabilizing quantized sampled data controllers is described. Since asymptotic stability cannot be obtained for quantized systems, a quadratically attractive ball in the state space with prespecified radius is derived. The controller design is illustrated by a numerical example (two carts with inverted pendula which are connected by a spring and a damper).