In this paper we study control systems whose input sets are quantized, i.e. finite or regularly distributed on a mesh. We specifically focus on problems relating to the structure of the reachable set of such systems, which may turn out to be either dense or discrete. We report results on the reachable set of linear quantized systems, and on a particular but interesting class of nonlinear systems, i.e. nonholonomic chained-form systems. For such systems, we provide a complete characterization of the reachable set, and, in the case the set is discrete, a computable method to completely and succinctly describe its structure. Implications and open problems in the analysis and synthesis of quantized control systems are addressed.

10aEmbedded Control10aRobotics1 aBicchi, A.1 aMarigo, A1 aPiccoli, B uhttps://www.centropiaggio.unipi.it/publications/reachability-quantized-control-systems.html