2022-01-18T14:41:18Zhttps://tsukuba.repo.nii.ac.jp/oaioai:tsukuba.repo.nii.ac.jp:000094802021-03-01T16:13:36ZExact Discretization of a Scalar Differential Riccati Equation with Constant Parameters堀, 憲之Hori, N.Rabbath, C. A.Nikiforuk, N.application/pdfAn exact, first-order, discrete-time model that gives correct values at the sampling\ninstants for any sampling interval is derived for a nonlinear system whose dynamics are governed\nby a scalar Riccati differential equation with constant parameters. The model is derived by\ntransforming the given differential equation into a stable linear form to which the invariant\ndiscretization is applied. This is in contrast with other existing methods which result in a\nsecond-order and usually unstable form and which is not suitable for on-line digital control\npurposes. Simulation results are presented to show that the proposed method is always exact at the\nsampling instants, whereas the popular forward difference model can be divergent unless the\nsampling interval is sufficiently small.journal articleInstitution of Engineering and Technology2007-09application/pdfIET control theory & applications5112191223http://hdl.handle.net/2241/916351751-8644AA12202926https://tsukuba.repo.nii.ac.jp/record/9480/files/IETCTA_1-5.pdfeng10.1049/iet-cta:20060413© 2007 Institution of Engineering and Technology