Stability analysis of networked control systems

Walsh, Greg; Yu, Hong; Bushnell, Linda

doi:10.1109/87.998034

Cited by 1,413 publications

(931 citation statements)

References 19 publications

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“…there is no data packet collision and no transmission delay. Prioritization in MAC strategies is introduced in [13] with the try-oncediscard (TOD) protocol. Based on current measurement data, TOD prioritizes transmissions by choosing the measurement with the largest discrepancy between its actual and estimated values, while the other measurements are discarded.…”

Section: Introductionmentioning

confidence: 99%

Decentralized event-triggered medium access control for networked control systems

Mamduhi

Kneissl

Hirche

2016

2016 IEEE 55th Conference on Decision and Control (CDC)

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Abstract-In practice often multiple control applications share a communication channel, requiring a smart and scalable scheduling mechanism to coordinate the access to the capacitylimited communication medium. In this paper, we propose a decentralized event-triggered medium access control (MAC) for multiple feedback control loops which are coupled through a capacity-limited communication medium. The individual control loops are assumed to be linear time-invariant (LTI) with stochastic heterogeneous plants. Noisy state measurements from local sensors are transmitted through a shared communication medium to their respective control units. Due to capacity limitations in the shared communication channel, not all sensors are allowed to transmit simultaneously. To allocate the scarce resources, a decentralized MAC which prioritizes the channel access according to a real-time error-dependent measure, is introduced. The prioritization is orchestrated via a combined deterministic and probabilistic mechanism aiming at the efficient allocation of the limited capacity. We study stability of the described multi-loop NCS under the proposed MAC design in terms of Lyapunov stability in probability (LSP). It is demonstrated that the collision rate remains low by properly tuning the MAC parameters. Numerical results show that the proposed MAC design significantly outperforms conventional time-triggered and random access schemes, while its performance closely follows the centralized TOD approach.

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Section: Introductionmentioning

confidence: 99%

Decentralized event-triggered medium access control for networked control systems

Mamduhi

Kneissl

Hirche

2016

2016 IEEE 55th Conference on Decision and Control (CDC)

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“…The system (11) is exponentially stable over S i , i = 1, 2, defined by (21), provided that there exist symmetric positive definite matrices P, R 1i , R 2i and (not necessarily symmetric) matrices N 1i , N 2i that satisfy the following LMIs:…”

Section: Theoremmentioning

confidence: 99%

“…First we review the related work in which there is no delay in the control loop. In [21], τ MAT I is computed for linear and nonlinear systems with Round-Robin (static) or Try-Once-Discard (TOD) (dynamic) protocols. Nesic et al [15,16] study the input-output stability properties of nonlinear NCSs based on a small gain theorem to find τ MAT I for NCSs.…”

Section: Related Workmentioning

confidence: 99%

Implementation Considerations For Wireless Networked Control Systems

Naghshtabrizi

Hespanha²

2010

Wireless Networking Based Control

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We show that delay impulsive systems are a natural framework to model wired and wireless NCSs with variable sampling intervals and delays as well as packet dropouts. Then, we employ discontinuous Lyapunov functionals to characterize admissible sampling intervals and delays such that exponential stability of NCS is guaranteed. These results allow us to determine requirements needed to establish exponential stability, which is the most basic Quality of Performance (QoP) required by the application layer. Then we focus on the question of whether or not the Quality of Service (QoS) provided by the wireless network suffices to fulfil the required QoP. To answer this question we employ results from real-time scheduling and provide a set of conditions under which the desired QoP can be achieved.

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“…Since A 0 , A 1 , A 2 are linear functions of K and L, the matrix inequalities in (16) are in the form of LMIs also in the unknowns. However, the condition X = α 2 Y −1 is not convex.…”

Section: Observer-based Controller Design For Ncssmentioning

confidence: 99%

“…These upper bounds are sometimes called the maximum allowable transfer interval (MATI). Walsh et al [16,17] find MATI for linear and nonlinear systems. Nesic and Teel [14] study the input-output stability properties of general nonlinear NCSs using an argument based on small gain theorem.…”

Section: Related Workmentioning

confidence: 99%

Anticipative and Non-anticipative Controller Design for Network Control Systems

Naghshtabrizi

Hespanha

Lecture Notes in Control and Information Science

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Summary. We propose a numerical procedure to design a linear output-feedback controller for a remote linear plant in which the loop is closed through a network. The controller stabilizes the plant in the presence of delays, sampling, and packet dropouts in the (sensor) measurement and actuation channels. We consider two types of control units: anticipative and non-anticipative. In both cases the closedloop system with delays, sampling, and packet dropouts can be modeled as delay differential equations. Our method of designing the controller parameters is based on the Lyapunov-Krasovskii theorem and a linear cone complementarity algorithm. Numerical examples show that the proposed design method is significantly better than the existing ones.

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Stability analysis of networked control systems

Cited by 1,413 publications

References 19 publications

Decentralized event-triggered medium access control for networked control systems

Decentralized event-triggered medium access control for networked control systems

Implementation Considerations For Wireless Networked Control Systems

Anticipative and Non-anticipative Controller Design for Network Control Systems

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