Eliminating effect of input quantisation in linear systems

Abstract

A simple yet powerful concept for eliminating the effect of input quantisation that prevents the state from converging to the origin is introduced. The basic idea is to add a 1-minus, 0 or 1-plus quantising level to each quantised input component so as to maintain the decreasing property of a Lyapunov function despite input quantisation. This eliminates usage of extra devices such as adjustable multipliers, counters, comparators, and the usage of tuning parameters.