OPTIMAL FINITE-PRECISION CONTROLLER AND FILTER IMPLEMENTATIONS USING FLOATING-POINT ARITHMETIC
James F Whidborne* Da-Wei Gu**
* Department of Mechanical Engineering, Kings College London, Strand, London WC2R 2LS, UK. email:james.whidborne@kcl.ac.uk
** Department of Engineering, University of Leicester, Leicester LE1 7RH, U.K. email: dag@leicester.ac.uk
In this paper, eigenvalue sensitivity measures are proposed that are suitable for assessing the fragility of digital controllers and filters implemented using floating-point arithmetic. Floating-point arithmetic parameter uncertainty is shown to be multiplicative. Based on first-order eigenvalue sensitivity analysis, an upper bound on the eigenvalue perturbations is derived. Consequently, open-loop and closed-loop eigenvalue sensitivity measures are proposed. These measures are dependent upon the filter or controller realization. Problems of obtaining the optimal realization with respect to both the open-loop and the closed-loop eigenvalue sensitivity measures are posed. The problem for the open-loop case is completely solved. The problem for the closed-loop case is solved using nonlinear programming. The problems are illustrated with a numerical example.
Keywords: finite-precision, digital controller, digital filter, eigenvalue sensitivity, floating-point arithmetic, fragility
Session slot T-Th-E15: Application of Robust Control III/Area code 2e : Robust Control

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