Optimal error feedback filters for uniform quantizers at remote sensors

Optimal error feedback filters for A/D converters of remote sensors in networked control systems are studied. It is shown that if the transfer function from the quantization error to the output of interest has a minimum phase, then its inverse is the optimal error feedback filter in terms of any kind of norms of errors. For general LTI systems, the design of error feedback filters is formulated as an optimization problem, which can be numerically solved. A design example is provided to demonstrate the effectiveness of our proposed method.