Low parametric sensitivity realization design for FWL implementation of mimo controllers: theory and application to the active control of vehicle longitudinal oscillations
Résumé
The implementation of a controller in a Finite Word Length (FWL) context may lead to a deterioration of the global performance, due to parametric errors (quantification of coefficients) and numerical noises (roundoff noises). This deterioration depends on the choise of the realization used to numerically implement the controller. In previous papers, the authors have introduced a new representation allowing to unify different realizations including among others those using q or δ-operators. In this paper, the parametric sensitivity measure is generalized in the MIMO case and used with a specific realization : the Observer-State-Feedback realization. Such a realization is not unique and one problem consists in finding an optimal realization according to that measure. Looking for such a structure is applied on a pratical example : the active control of vehicle longitudinal oscillations.
