Delta Modulator Based Quantised State-Feedback Control of Networked Linear Systems

Abstract

In this study, the design of quantised state-feedback controller using a Delta-Modulator (Δ-M) for linear networked systems is proposed. This modulator can be considered as one type of sliding mode quantiser (SMQ) and has several advantages such as lower design complexity, lower cost, and less noisy. In this study, the stability conditions of both the continuous-time and the discrete-time Δ-M based quantised control systems are derived. The switching function bounds, which ensure that the steady state behaviour of the system is periodic are derived. The effectiveness of the Δ-M based quantised control system is investigated using a ZigBee protocol based experimental communication network with inherent imperfections associated with real-time network. It is shown that the designed quantised state-feedback controller gives the desired performance.