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A non-uniform pbkp_redictor-observer for a networked control system

Abstract:

This paper presents a Non-Uniform Pbkp_redictor-Observer (NUPO) based control approach in order to deal with two of the main problems related to Networked Control Systems (NCS) or Sensor Networks (SN): time-varying delays and packet loss. In addition, if these delays are longer than the sampling period, the packet disordering phenomenon can appear. Due to these issues, a (scarce) nonuniform, delayed measurement signal could be received by the controller. But including the NUPO proposal in the control system, the delay will be compensated by the pbkp_rediction stage, and the nonavailable data will be reconstructed by the observer stage. So, a delay-free, uniformly sampled controller design can be adopted. To ensure stability, the pbkp_redictor must satisfy a feasibility problem based on a time-varying delay-dependent condition expressed in terms of Linear Matrix Inequalities (LMI). Some aspects like the relation between network delay and robustness/performance trade-off are empirically studied. A simulation example shows the benefits (robustness and control performance improvement) of the NUPO approach by comparison to another similar proposal. © ICROS, KIEE and Springer 2011.