디지털 제어기 구현시 FWL 영향에 대한 안정도 여유

Stability Margin of Finite Wordlength(FWL) Effects in Digital Implementation of Controllers

We consider digital implementation problems of continuous-time controllers. In general, digital controllers use fixed point representation of number and of finite word length(FWL). Under these conditions, this paper investigates the closed-loop stability caused by three design constraints; (i) finite precision representation of the controller parameters, (ii) realization forms such as direct form, cascade form, and parallel form, and (iii) sampling time. We calculate the coefficient stability margins of both predesigned controllers and controller to be implemented. This method can be applied to determine the word length, realization structure, and sampling time so that remains the stability.