Quantizer effects on steady-state error specifications of digital feedback control systems

The authors consider a linear, time-invariant, single-input-single-output (SISO) plant whose digital dynamic controller has been designed so that the corresponding discrete-time linear feedback control system will satisfy certain specified steady-state error criteria. Corresponding to this idealized linear system, the digital implementation of the dynamic controller will result in a nonlinear feedback control system. The authors investigate to what extent the resulting nonlinear digital feedback control system satisfies the steady-state error criteria of the original idealized linear prototype feedback control system. They consider digital controller implementations which use fixed-point or floating-point arithmetic. They do not address overflow nonlinearities