256 research outputs found
Optimal realizations of floating-point implemented digital controllers with finite word length considerations.
The closed-loop stability issue of finite word length (FWL) realizations is
investigated for digital controllers implemented in floating-point arithmetic.
Unlike the existing methods which only address the effect of the mantissa bits
in floating-point implementation to the sensitivity of closed-loop stability,
the sensitivity of closed-loop stability is analysed with respect to both the
mantissa and exponent bits of floating-point implementation. A computationally
tractable FWL closed-loop stability measure is then defined, and the method of
computing the value of this measure is given. The optimal controller realization
problem is posed as searching for a floating-point realization that maximizes
the proposed FWL closed-loop stability measure, and a numerical optimization
technique is adopted to solve for the resulting optimization problem. Simulation
results show that the proposed design procedure yields computationally efficient
controller realizations with enhanced FWL closed-loop stability performance
A search algorithm for a class of optimal finite-precision controller realization problems with saddle points
With game theory, we review the optimal digital controller realization problems that maximize a finite word length (FWL) closed-loop stability measure. For a large class of these optimal FWL controller realization problems which have saddle points, a minimax-based search algorithm is derived for finding a global optimal solution. The algorithm consists of two stages. In the first stage, the closed form of a transformation set is constructed which contains global optimal solutions. In the second stage, a subgradient approach searches this transformation set to obtain a global optimal solution. This algorithm does not suffer from the usual drawbacks associated with using direct numerical optimization methods to tackle these FWL realization problems. Furthermore, for a small class of optimal FWL controller realization problems which have no saddle point, the proposed algorithm also provides useful information to help solve them
A Unifying Framework for Finite Wordlength Realizations.
A general framework for the analysis of the finite
wordlength (FWL) effects of linear time-invariant digital filter
implementations is proposed. By means of a special implicit system
description, all realization forms can be described. An algebraic
characterization of the equivalent classes is provided, which
enables a search for realizations that minimize the FWL effects
to be made. Two suitable FWL coefficient sensitivity measures
are proposed for use within the framework, these being a transfer
function sensitivity measure and a pole sensitivity measure. An
illustrative example is presented
Sound and Automated Synthesis of Digital Stabilizing Controllers for Continuous Plants
Modern control is implemented with digital microcontrollers, embedded within
a dynamical plant that represents physical components. We present a new
algorithm based on counter-example guided inductive synthesis that automates
the design of digital controllers that are correct by construction. The
synthesis result is sound with respect to the complete range of approximations,
including time discretization, quantization effects, and finite-precision
arithmetic and its rounding errors. We have implemented our new algorithm in a
tool called DSSynth, and are able to automatically generate stable controllers
for a set of intricate plant models taken from the literature within minutes.Comment: 10 page
Optimal Controller and Filter Realisations using Finite-precision, Floating- point Arithmetic.
The problem of reducing the fragility of digital controllers and filters
implemented using finite-precision, floating-point arithmetic is considered.
Floating-point arithmetic parameter uncertainty is multiplicative, unlike
parameter uncertainty resulting from fixed-point arithmetic. Based on first-
order eigenvalue sensitivity analysis, an upper bound on the eigenvalue
perturbations is derived. Consequently, open-loop and closed-loop eigenvalue
sensitivity measures are proposed. These measures are dependent upon the filter/
controller realization. Problems of obtaining the optimal realization with
respect to both the open-loop and the closed-loop eigenvalue sensitivity
measures are posed. The problem for the open-loop case is completely solved.
Solutions for the closed-loop case are obtained using non-linear programming.
The problems are illustrated with a numerical example
SWATI: Synthesizing Wordlengths Automatically Using Testing and Induction
In this paper, we present an automated technique SWATI: Synthesizing
Wordlengths Automatically Using Testing and Induction, which uses a combination
of Nelder-Mead optimization based testing, and induction from examples to
automatically synthesize optimal fixedpoint implementation of numerical
routines. The design of numerical software is commonly done using
floating-point arithmetic in design-environments such as Matlab. However, these
designs are often implemented using fixed-point arithmetic for speed and
efficiency reasons especially in embedded systems. The fixed-point
implementation reduces implementation cost, provides better performance, and
reduces power consumption. The conversion from floating-point designs to
fixed-point code is subject to two opposing constraints: (i) the word-width of
fixed-point types must be minimized, and (ii) the outputs of the fixed-point
program must be accurate. In this paper, we propose a new solution to this
problem. Our technique takes the floating-point program, specified accuracy and
an implementation cost model and provides the fixed-point program with
specified accuracy and optimal implementation cost. We demonstrate the
effectiveness of our approach on a set of examples from the domain of automated
control, robotics and digital signal processing
Finite Wordlength Controller Realizations using the Specialized Implicit Form
Une forme d'état implicite spécialisée est présentée pour étudier les effets de l'implantation en précision finie des régulateurs. Cette forme permet une description macroscopique des algorithmes à implanter. Elle constitue un canevas unificateur permettant de décrire les différentes structures utilisées pour l'implantation, telles que les réalisations avec l'opérateur delta, la forme directe II en rho, la forme d'état-observateur et bien d'autres formes qui sont d'habitude traitées séparément dans la littérature. Différentes mesures quantifiant les effets de l'implantation sur le comportement en boucle fermée sont définis dans ce contexte. Elles concernent aussi bien la stabilité que la performance. L'écart entre la réalisation à précision infinie et la réalisation à précision finie est évaluée selon la mesure de sensibilité des coefficients et la mesure du bruit de quantification. Le problème consistant à trouver une réalisation dont l'implantation amène un minimum de dégradation peut alors est résolut numériquement. Cette approche est illustrée avec deux exemples
Finite worldlength effects in fixed-point implementations of linear systems
Thesis (M.Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1998.Includes bibliographical references (p. 173-194).by Vinay Mohta.M.Eng
- …