Reachability Analysis for a Class of Quantized Control Systems

In this paper we study control systems whose input sets are quantized. We speciically focus on problems relating to the structure of the reachable set of such systems, which may turn out to be either dense or discrete. We report on some recent results on the reachable set of linear quantized systems, and study in detail a particular but interesting class of nonlinear systems, forming the discrete counterpart of driftless nonholonomic continuous systems. For such systems, we provide a complete characterization of the reach-able set, and, in the case the set is discrete, a computable method to describe its lattice structure.