Optimal Finite-precision Implementations of Linear Parameter Varying Controllers
نویسندگان
چکیده
Digital computing devices have a finite precision. Hence when digital controllers are implemented, there is rounding on the variables and parameters resulting in the various finite-word-length effects on the closed-loop stability and performance of the system. In this paper we concentrate on the coefficient sensitivity problem. That is: to determine the controller realization that minimizes the sensitivity of the closed-loop system to small perturbations on the controller coefficients. The sensitivity minimization problem can be approximated by a stability radius maximization problem. In this paper we consider the coefficient sensitivity problem for digital implementations of linear parameter-varying controllers. The problem of maximizing the stability radius for the coefficient sensitivity problem for linear parameter-varying controllers reduces to the solution of a set of linear matrix inequalities. The approach is demonstrated on an example. Furthermore, the example shows that eigenvalue sensitivity measures are not generally suitable for linear-parameter-varying controller, finite-word-length problems.
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