Low-resolution implementation of high-resolution position control
Herbert Hanselmann · IEEE Transactions on Automatic Control · 1988
Digital implementation of position or path control using high-resolution encoders may require high resolution for control algorithm computations too if the controller state variables carry high-precision absolute position information. If the control algorithm is reformulated in a form in which the controller state is continuously offset according to the possibly nonconstant setpoint, then much less arithmetic wordlength may be sufficient.>