On the model-based approach to nonlinear networked control systems

Networked predictive control of constrained nonlinear systems: Recursive feasibility and Input-to-State Stability analysis

“…In this regard, the presence of ACKs in TCP-like networks can be exploited by the controller (which is acknowledged of successful packet reception by the actuator) to internally reconstruct the true sequence of controls which have been applied to the plant [18] from time instat t − τ c (t) to t − 1, in order to get an estimation of the current statex t|t−τc(t) , on the basis of the most recent available plant measurement x t−τc(t) . A graphical representation of the overall NCS layout is depicted in Figure 1, while the NDC and the controller will be described in the next sections.…”

“…Moreover, if the system to be controlled is subjected to constraints and nonlinearities, the formulation of an effective networked control strategy becomes a really hard task [19]. In this framework, the present paper provides theoretical results that motivate, under suitable assumptions, the combined use of nonlinear Model Predictive Control (MPC) with a Network Delay Compensation (NDC) strategy [2], [18], in order to cope with the simultaneous presence of model uncertainties, time-varying transmission delays and data-packet losses. In the current literature, for the specific class of MPC schemes which impose a fixed terminal constraint set, X f , as a stabilizing condition, the robust stability properties of the overall c-l system, in absence of transmission delays, has been shown to depend on the invariance properties of X f , [11], [17].…”

Observer-based control for networked nonlinear systems with random packet losses

“…It is well known that nonlinearities commonly exist in practical control systems, so research about networked nonlinear systems is very important in both theory and applications, and it is also a very challenging problem. Lately, there have appeared relevant research results about controller design for networked nonlinear systems (see, e.g., [31][32][33][34][35][36][37][38][39], and references therein). In [31], the authors considered the problem of delay-dependent stability criteria for a class of multi-input and multi-output (MIMO) networked control systems with nonlinear perturbation.…”

“…In [32,37], both the authors used a Takagi-Sugeno fuzzy model to represent networked nonlinear systems with both networkinduced delay and data packet dropout, and they both gave the sufficient conditions for the existence of a fuzzy controller and also proposed respective algorithms for the controller design. In [33], the authors addressed the model-based stabilization problem of a nonlinear system based on its approximate discrete-time model under the network-induced communication constraints and proposed a communication protocol to cope with these constraints. In [34], the authors introduced a two-step design approach for a MIMO networked nonlinear control system.…”

Asymptotic stability analysis of nonlinear real-time networked control systems

“…Walsh et al studied the stability of nonlinear NCSs in [7], but the derived results were much more conservative regardless of the networks in the design of controller for the plant. Polushin et al [8] addressed a problem of model-based stabilization for nonlinear systems based on its approximate discrete-time model under network induced communication constraints. However, it is usually impossible to obtain the exact discrete-time model of a continuous-time nonlinear system.…”