NDLI: Improved closed-loop stability for fixed-point controller implementation using the delta operator

Content Provider	IEEE Xplore Digital Library
Author	Song, T. Collins Jr., E.G. Istepanian, R.H.
Copyright Year	1999
Description	Author affiliation: Dept. of Mech. Eng., Florida A&M Univ., Tallahassee, FL, USA (Song, T.)
Abstract	A stable discrete-time control system may achieve a lower than predicted performance or even become unstable when the discrete-time control law is implemented with a fixed-point digital control processor due to the finite word length (FWL) effects, which depend on the control law state-space realization and the discrete-time operator (e.g., the delta operator or the forward-shift operator) used to represent the control laws. To improve the closed-loop stability (and as a byproduct, performance) when the control law is implemented, a state-space approach that selects the control law realization to optimize a stability-related objective function is developed using the delta operator. Analytical and numerical comparison of the fixed-point performance of delta control laws with the performance of the corresponding forward-shift control laws quantifies the improved closed-loop stability of the delta realizations over those of the corresponding forward-shift realizations. It is also shown that there exists a simple mapping between the optimal FWL forward-shift control law realizations and the optimal delta control law realizations. The results are illustrated by the delta and forward-shift control law realizations of a discrete-time H/sub /spl infin// control law designed for a teleoperation motion-scaling system.
Starting Page	4328
Ending Page	4332
File Size	476485
Page Count	5
File Format	PDF
ISBN	0780349903
ISSN	07431619
DOI	10.1109/ACC.1999.786384
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-06-02
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Control systems Optimal control Robust stability Digital control Floating-point arithmetic Sampling methods Performance analysis Stability analysis Motion control Costs
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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