Comparison of LTI and Event-Based Control for a Moving Cart with Quantized Position Measurements

• Traditional linear time-invariant (LTI) control design assumes that measurements are taken at regular time intervals and have independent additive noise. A common practical case that violates this assumption is the use of encoders that give quantized position measurements; when the quantization is appreciable the measurement noise is far from LTI. This paper develops a simple event-based controller based on simplifying a joint maximum a posteriori estimator, which is applied to a moving cart with quantized position measurements. The payoff for implementing the somewhat more complex event-based controller is to drastically reduce the effect of quantization noise in the experiments. A sequence of simpler (LTI) to better adapted controllers are described and compared according to experimental performance and implementation complexity. Implementation issues on the microcontroller are discussed.

Subject headings

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Keyword

Stochastic filtering

Quantized systems

Servo control

Publication and Content Type

kon (subject category)

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