Nowadays the use of so-called Network Control Systems is a common practice. Although convenient, networks introduce several perturbations to the control system, due to the additional latency, jitter and even errors that arise when messages fail to be delivered. This paper presents a control architecture that attenuates the impact of the network on the controller performance. The proposed architecture is based on a series of data buffering and estimation, decoupling the controller execution from the instants in which messages are transmitted. In the sequel, important bandwidth are also attained, due to the batch transmission of sensor and control data.
Driven by the need to make a more efficient use of communication and computational resources, recently, a strong research effort has been devoted to the study of control systems integrating several controllers, with the goal of selecting the controller that allows to meet the desired quality of control while minimizing resource usage. However, most of the research made so far has been focused on the rules for controller change, neglecting the full impact of controller changes, namely the resulting oscillations. Consequently, in most such systems, controller changes may cause output oscillations that can compromise the gains achieved by the use of multiple controllers. In this paper, first the cause for oscillations in the presence of period changes is put forward, then a solution based in a change of basis matrix is presented. A simulation illustrate the feasibility of the proposed methodology.
The problem of optimal control given full state knowledge has been solved many years ago and is very well documented. Nonetheless, in most control settings it is virtually impossible to know the exact state value. To deal with this fact, two concepts were introduced: certainty equivalence and separation principle. In this paper, it is presented a novel necessary condition for certainty equivalence to hold, without such condition, in the presence of state uncertainty current optimal controllers lead to suboptimal control. Furthermore, it is also presented a novel controller that remains optimal even when the necessary condition in question is violated. takes into account the effect of the sate estimation error in the control. It is proven that the the new controller is never outperformed by classical approaches.
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