Noise-Induced Tracking Error in PI Controlled Systems with Sensor Saturation

Abstract

Tracking loss due to zero mean measurement noise has been discovered in feedback control systems with saturating actuators. This phenomenon was named as “Noise-Induced Tracking Error (NITE)” and was analyzed for several types of feedback control systems in previous work. In this paper, we show that a similar phenomenon occurs in feedback control systems with saturating sensors. Specifically, in a class of PI controlled systems with saturating sensors, we show that NITE occurs, and quantify it, using stochastic averaging, in terms of system parameters and noise characteristics. The result is both qualitatively and quantitatively different from that for the systems with saturating actuators. Simulation results are provided for validation of analysis.