Optimal decentralized dynamic quantizers for discrete-valued input control: A closed form solution and experimental evaluation

This paper discusses how to design decentralized dynamic quantizers for feedback control systems with discrete-valued input constraints. First, we analytically derive an optimal decentralized dynamic quantizer such that the systems subject to discrete-valued input constraints optimally approximate the behavior of those without such constraints. Next, the effectiveness of such decentralized dynamic quantizers is demonstrated by an experiment with a cart-seesaw system.