Abstract
Digital implementation of discrete-time controllers on low- cost fixed-point microprocessor-based systems, leads to diverse nonlinear phenomena. In the paper, the finite wordlength effects for PID controllers realized by means of eight structures, are considered. The problem previously attacted from different theoretical points of view is now studied, using a simulation tool. A direct implementation of the controllers is treated, showing its high sensitivity to the FWL effects. Next, different rules of scaling, performed on the controler structures, are considered, and related results are given, indicating the usefulness of structural scaling and optimization.
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