High-Gain-Observer-Based Funnel Control for Motor Servo System with Quantized Input

For improving the tracking performance of the general motor servo systems with quantized control input, a new quantized funnel control strategy is proposed. A funnel error variable is introduced to prescribe the evolution of the tracking error, such that the transient behavior and asymptotic convergence of the tracking error will be guaranteed. This strategy removes the complex error transformation in prescribed performance control. In addition to, a high-gain observer is used to estimate the unknown system states, and the quantization error is compensated. Then, the stability of the feedback control system is proved by the Lyapunov theory. Additional simulations illustrate the effectiveness of the quantized control method.