Floating quantization effects on multirate sampled-data% nonlinear control systems

In this article, floating quantization effects on multirate sampled-data control systems are studied. It shows that the solutions of multirate digital feedback control systems with nonlinear plant and with floating quantization in the controller are uniformly ultimately bounded if the associated linear systems consisting of linearization of the plant and controller with no quantization are Schur stable. Moreover, it also shows that the difference between the response of multirate digital controllers without quantizers and the same plant with floating quantization in the controllers can be made as small as desired by selecting proper quantization level.