H2 controller design for eliminating the effect of input quantization

This paper tackles the problem of H₂ control for output-feedback linear systems with uniform input quantization. The basic idea is to increase each quantized input component by a quantizing level of -1, 0, or +1 so as to eliminate the effect of input quantization on the decreasing property of the Lyapunov function associated with the LQ cost, which results in successfully achieving H₂ performance. The resulting controller does not require any additional devices such as adjustable multipliers, or any tuning parameters that are closely related to the performance of the system.