
Given the following digital controller:
Considering the digital controller described by the equation C2 using direct form I (DFI) and implemented with <11,4> (i.e., 11 bits for integer part and 4 bits for precision) is checked using DSVerifier for limit cycle oscilations, the model checker found that if the digital controller’s initial state were y(1)=0.0625 and y(2)=0.3125 and use a zeroes input sequence as input, the outputs of digital controller will be oscillate in 0.125 and 0.125.
The outputs generated by the digital controller are shown below.