Discrete-valued input control of crane systems using optimal dynamic quantizers

This paper is concerned with control of systems with discrete-valued control input, and addresses an optimal design problem of dynamic quantizers in a feedback loop. We first derive a closed form upper bound of the performance of a class of dynamic quantizers. Next, based on this, we propose an optimal dynamic quantizer, which allows us to easily design a controller by linear control theory for plants with discrete-valued input. Finally, it is demonstrated through an experiment with a crane system that the proposed optimal dynamic quantizer is effective for discrete-valued input feedback control.