Optimal digital controller structure for a fluid power system subject to wordlength constraints

The implementation of a digital H/sub /spl infin//-optimal controller for a fluid power system subject to finite word length (FWL) is considered. The paper addresses the digital controller structure problem using an approach based on structured perturbation theory in the l/sub 1/ framework. The resulting controller structure reduces by six orders of magnitude the controller parameter precision which is sufficient for stable FWL implementation.