The effect of discretized feedback in a closed loop system

  title={The effect of discretized feedback in a closed loop system},
  author={Ping Hsu and S. Shankar Sastry},
  journal={26th IEEE Conference on Decision and Control},
When a continuous time control law is implemented using a digital computer, the closed loop system may not have the same stability properties as the system with a true continuous controller due to delay and digitization errors. Using a Lyapunov analysis, this paper shows that, for linear systems and a class of nonlinear systems with discretized feedback, some stability properties can be preserved if the sampling frequency is properly chosen. In particular, we propose a variable sampling… CONTINUE READING
Highly Cited
This paper has 27 citations. REVIEW CITATIONS


Publications citing this paper.
Showing 1-10 of 16 extracted citations


Publications referenced by this paper.
Showing 1-10 of 12 references

andNormand - Cyrot D . " On the Linearizing Feedback in Nonlinear Sampled Data Con trol Schemes "

  • S. Monaco
  • Proc . of the IEEE Conf . on Decision and Control
  • 1986

Discrete Time Models for Robot Arm Control

  • Monaco, D S.andNormand-Cyrot
  • IFAC Sympo sium on Robot and Control,
  • 1985

Global Controllability forSmoothNonlinear Systems: A Geometric Approach

  • Aeyels, Dirk
  • SIAM J. of Control and Optimization,Vol.23,
  • 1985

Nonlinear ControlSystems: An introduction

  • A. Isidori
  • Spring-Verlag
  • 1985
1 Excerpt

andIsidori, A. "Linearization by Output Injection andNonlinear observers

  • Krener, AJ
  • Systemand ControlLetters,
  • 1983
1 Excerpt


  • Franklin
  • andPowell,J.D. "Digital Control of Dynamic…
  • 1980

Nonlinear Systems in Discrete Time", Algebraic and Geometric Methodsin Nonlinear Control Theory,ed Fliess

  • S. Monaco, D Normand-Cyrot
  • 1980

Nonlinear controllability and Observability

  • R. Hermann, A. J. Krener
  • IEEE Tran, AC,
  • 1977

" Analysis of the Computed Torque Method and Comparison with Conventional Position Servo for a Computer - controlled Manipulator , " Tech

  • B. Markewicz
  • 1973

Similar Papers

Loading similar papers…