Reduction of Quantization Error in Multirate Output Feedback Control

Takao Sato; Hironobu Sakaguchi; Nozomu Araki; Yasuo Konishi

doi:10.20965/jrm.2016.p0640

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JRM Vol.28 No.5 pp. 640-645

doi: 10.20965/jrm.2016.p0640

(2016)

Paper:

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Reduction of Quantization Error in Multirate Output Feedback Control

Takao Sato, Hironobu Sakaguchi, Nozomu Araki, and Yasuo Konishi

University of Hyogo
2167 Shosha, Himeji, Hyogo 671-2280, Japan

Received:

February 18, 2016

Accepted:

May 19, 2016

Published:

October 20, 2016

Keywords:

multirate output feedback, static quantization, round-off error

Abstract

In the new design method we propose for a multirate output feedback control system, the hold interval of control input is longer than the sampling interval of plant output. In this system, unknown state variables are calculated using control input and plant output without observers. The multirate output feedback control system has been extended by introducing new design parameters that are designed independent of the calculation of the state variable. To our knowledge, however, no systematic design scheme has ever been proposed for design parameters in this case. In this study, quantization error is dealt with statistically and design parameters are decided to minimize quantization error.

Multirate output feedback control

Cite this article as:

T. Sato, H. Sakaguchi, N. Araki, and Y. Konishi, “Reduction of Quantization Error in Multirate Output Feedback Control,” J. Robot. Mechatron., Vol.28 No.5, pp. 640-645, 2016.

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References

[1] K. J. Åström and B. Wittenmark, “Computer-Controlled Systems: Theory & Design,” Prentice Hall, Upper Saddle River, USA, third edition, 1997.
[2] T. Aoki, Y. Furukawa, and N. Moronuki, “A study on controlling algorithm to realize high-speed & high-accuracy control systems – proposal of modified delta operator –,” J. of Robotics and Mechatronics, Vol.9, No.6, pp. 446-454, 1997.
[3] B. Bandyopadhyay and S. Janardhanan, “Discrete-time Sliding Mode Control, A Multirate Output Feedback Approach,” Springer, Berlin, Germany, 2006.
[4] S. Janardhanan and V. Kariwala, “Multirate-output-feedback-based LQ-optimal discrete-time sliding mode control,” IEEE Trans. on Automatic Control, Vol.53, No.1, pp. 367-373, 2008.
[5] A. Inoue, M. Deng, K. Matsuda, and B. Bandyopadhyay, “Design of a robust sliding mode controller using multirate output feedback,” Proc. of 16th IEEE CCA, pp. 200-203, Singapore, 2007.
[6] T. Sato and A. Inoue, “Extension of a multirate output feedback control system for improvement in quantization error,” IEEJ Trans. on Electronics, Information and Systems, Vol.131, No.4, pp. 764-772, 2011 (in Japanese).
[7] T. Mita, S. Hara, and R. Kondo, “Introduction to Digital Control,” Corona publishing, 1988.
[8] S. Azuma and T. Sugie, “Stability analysis of optimally quantized LFT-feedback systems,” Int. J. of Control, Vol.83, No.6, pp. 1125-1135, 2010.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] K. J. Åström and B. Wittenmark, “Computer-Controlled Systems: Theory & Design,” Prentice Hall, Upper Saddle River, USA, third edition, 1997.

[2] [2] T. Aoki, Y. Furukawa, and N. Moronuki, “A study on controlling algorithm to realize high-speed & high-accuracy control systems – proposal of modified delta operator –,” J. of Robotics and Mechatronics, Vol.9, No.6, pp. 446-454, 1997.

[3] [3] B. Bandyopadhyay and S. Janardhanan, “Discrete-time Sliding Mode Control, A Multirate Output Feedback Approach,” Springer, Berlin, Germany, 2006.

[4] [4] S. Janardhanan and V. Kariwala, “Multirate-output-feedback-based LQ-optimal discrete-time sliding mode control,” IEEE Trans. on Automatic Control, Vol.53, No.1, pp. 367-373, 2008.

[5] [5] A. Inoue, M. Deng, K. Matsuda, and B. Bandyopadhyay, “Design of a robust sliding mode controller using multirate output feedback,” Proc. of 16th IEEE CCA, pp. 200-203, Singapore, 2007.

[6] [6] T. Sato and A. Inoue, “Extension of a multirate output feedback control system for improvement in quantization error,” IEEJ Trans. on Electronics, Information and Systems, Vol.131, No.4, pp. 764-772, 2011 (in Japanese).

[7] [7] T. Mita, S. Hara, and R. Kondo, “Introduction to Digital Control,” Corona publishing, 1988.

[8] [8] S. Azuma and T. Sugie, “Stability analysis of optimally quantized LFT-feedback systems,” Int. J. of Control, Vol.83, No.6, pp. 1125-1135, 2010.