Robust adaptive controller for linear plants with variable step quantizer

The paper is extension of result [16] and aimed to the adaptive control of uncertain linear plants under conditions of only quantized output measurement and bounded external disturbances. Quantizer with dynamical changing step is considered. Control law synthesis is based on consecutive compensator method. Kharitonov polynomials based tuning algorithm for controller parameters and quantization step is designed. Proposed control system provides convergence of quantizer output to the reference signal with prespecified accuracy.