Optimal Sampled-Data Control Systems
Optimal Sampled-Data Control Systems
Effects of position quantization and sampling rate on virtual-wall passivity
IEEE Transactions on Robotics
Hybrid feedback stabilization of systems with quantized signals
Automatica (Journal of IFAC)
IEEE Transactions on Information Theory
Hi-index | 22.14 |
Differentiation in feedback is common practice in digital control. Yet, the fundamental behavior of the universally employed backward difference of quantized signals has not been studied thus far. We show that velocity always oscillates when this type of feedback is applied to a forced, linear second-order system for any system parameter. We then compute a bound for the oscillation amplitude, which can be easily computed given the parameters of the system. Experimental results are in close agreement with the theory. If the system has dry friction, our study yields a sufficient condition for the quenching of spontaneous oscillations.