On the structure of digital controllers in sampled-data systems with FWL consideration

A sampled-data control system consists of the continuous-time plant, and a sampled-data controller composed of a sampler, the digital controller and a hold. The stability may be lost when the digital controller is implemented with a digital control processor due to the finite word length (FWL) effects. There are two main aspects involved in controller implementation. The first one is concerned with estimating the smallest word length that ensures stability. This is concerned with solving a stability robustness problem. The other aspect is concerned with the optimal controller structure problem