An approach based on an adaptive multi-rate smith predictor and gain scheduling for a networked control system: Implementation over Profibus-DP

This paper presents a control strategy to face time-varying delays induced in a Networked Control System (NCS). The delay is divided into two parts: the largest one (an integer multiple of the bus cycle) is compensated by means of an adaptive multi-rate Smith predictor, and the smallest one (whose value is strictly smaller than the bus cycle) via a gain scheduling approach based on root locus contour and linearization techniques. The gains to be scheduled belong to a multi-rate PID controller. Control system stability is studied by means of Lyapunov theory. Simulation results and the implementation on a test-bed Profibus-DP environment illustrate that this control structure can maintain NCS performance and stability, despite the considered delays.

[1]  R. Stephenson.  A and V , 1962, The British journal of ophthalmology.

[2]  Karl Johan Åström,et al.  Computer-Controlled Systems: Theory and Design , 1984 .

[3]  Asok Ray,et al.  Integrated Communication and Control Systems: Part I—Analysis , 1988 .

[4]  Johan Nilsson,et al.  Real-Time Control Systems with Delays , 1998 .

[5]  Geok Soon Hong,et al.  Multirate predictor control scheme for visual servo control , 2002 .

[6]  Y. Tipsuwan,et al.  Control methodologies in networked control systems , 2003 .

[7]  Mo-Yuen Chow,et al.  Gain scheduler middleware: a methodology to enable existing controllers for networked control and teleoperation-part II: teleoperation , 2004, IEEE Transactions on Industrial Electronics.

[8]  Manel Velasco,et al.  Managing quality-of-control in network-based control systems by controller and message scheduling co-design , 2004, IEEE Transactions on Industrial Electronics.

[9]  Mo-Yuen Chow,et al.  Gain scheduler middleware: a methodology to enable existing controllers for networked control and teleoperation - part I: networked control , 2004, IEEE Transactions on Industrial Electronics.

[10]  Julián Salt,et al.  Model-based multirate controllers design , 2005, IEEE Transactions on Control Systems Technology.

[11]  Won-jong Kim,et al.  Real-time operating environment for networked control systems , 2005, Proceedings of the 2005, American Control Conference, 2005..

[12]  Julián Salt,et al.  Implementation of algebraic controllers for non-conventional sampled-data systems , 2006, Real-Time Systems.

[13]  Huosheng Hu,et al.  Robust Stability Analysis of an Uncertain Nonlinear Networked Control System Category , 2006 .

[14]  Tai C Yang,et al.  Networked control system: a brief survey , 2006 .

[15]  V. Casanova,et al.  A PID dual rate controller implementation over a networked control system , 2006, 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control.

[16]  Fuchun Sun,et al.  Intelligent Scheduling Control of Networked Control Systems with Networked-induced Delay and Packet Dropout , 2008 .

[17]  Wanliang Wang,et al.  Managing quality-of-control and requirement-of-bandwidth in networked control systems via fuzzy bandwidth scheduling , 2009 .