Performance analysis of feedback control systems with subtractive dither

Subtractive dither method is that artificial noise is added to the original signal before quantization and the same noise is subtracted from the quantized signal. In some sense, this mechanism is similar to symmetric-key algorithm of encrypted communication. In this paper, a subtractive dither method is applied into quantized feedback control systems and the performance of quantizers with subtractive dither is analyzed. A numerical simulation is also shown with comparing to a non-subtractive dither method and the advantage of subtractive dither is demonstrated.