Sampling errors in closed-loop hybrid systems

A hybrid closed-loop system consists of a combination of continuous and discrete elements. Such systems are common in hybrid computer simulation or digital implementation of continuous controllers. The signal conversion process introduces errors into the system when compared with an equivalent system based on continuous variables. These errors, called sampling errors, are a function of several parameters within the digital part of the system. A model for these errors that can be used to estimate the effects that a particular hybrid implementation will have on the system response is developed in this work. An example is given to illustrate the application and accuracy of the equations.