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This paper investigates a recently derived lower bound stability measure for sampled-data controller structures subject to finite-wordlength (FWL) constraints. The optimal realization of the digital PID controller with FWL considerations is formulated as a nonlinear optimization problem, and an efficient strategy based on adaptive simulated annealing (ASA) is adopted to solve this complex optimization problem. A numerical example of optimizing the finite-precision PID controller structure for a simulated steel rolling mill system is presented to illustrate the effectiveness of the proposed strategy.

Optimizing stability bounds of finite-precision PID controller structures