Robust Performance Issues in Tracking Control over Networks

This paper is concerned with the investigation of robust performance of linear tracking controllers affected by unmodelled delays acting in the loop. The incentive comes from the area of Networked Control System (NCS) where the inevitable network-induced (transmission) delays are either time-varying or constant. The main contribution (based on extensive simulation work rather than strict mathematical proof) is that the tracking performance of (typical or more sophisticated) linear tracking control laws is drastically reduced when applied to NCS. The provided simulation results (i) demonstrate the impact of the network-induced delays on the tracking performance of single-input single-output NCS, (ii) provide initial guidelines for the tuning of the controllers and (iii) pave the road for further work to be done.

[1]  Anthony Tzes,et al.  Modeling Approaches and Robust Stability Conditions for Networked Controlled Systems with Uncertain Delays , 2008 .

[2]  Johan Nilsson,et al.  Stochastic Analysis and Control of Real-Time Systems with Random Time Delays , 1996 .

[3]  João Pedro Hespanha,et al.  A Survey of Recent Results in Networked Control Systems , 2007, Proceedings of the IEEE.

[4]  Panos J. Antsaklis,et al.  Control and Communication Challenges in Networked Real-Time Systems , 2007, Proceedings of the IEEE.

[5]  A. Teel,et al.  A note on input-to-state stability of networked control systems , 2004, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).

[6]  Mo-Yuen Chow,et al.  Gain adaptation of networked DC motor controllers based on QoS variations , 2003, IEEE Trans. Ind. Electron..

[7]  Dragan Nesic,et al.  Input-output stability properties of networked control systems , 2004, IEEE Transactions on Automatic Control.

[8]  Q. Han,et al.  State feedback controller design of networked control systems , 2004 .

[9]  Dong Yue,et al.  Network-based robust H ∞ control of systemswith uncertainty , 2005 .

[10]  M. Mahmoud.  Robust Control and Filtering for Time-Delay Systems , 2000 .

[11]  J.P. Hespanha,et al.  On the robust stability and stabilization of sampled-data systems: A hybrid system approach , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[12]  Wei Zhang,et al.  Stability of networked control systems , 2001 .

[13]  Leonidas Dritsas,et al.  Robust stability analysis of Networked Systems with varying delays , 2009, 2009 European Control Conference (ECC).

[14]  Anthony Tzes,et al.  Robust output feedback control of networked systems , 2007, 2007 European Control Conference (ECC).

[15]  Tianguang Chu,et al.  Output feedback control of networked systems , 2004, Int. J. Autom. Comput..

[16]  Linda Bushnell,et al.  Stability analysis of networked control systems , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[17]  Dong-Sung Kim,et al.  Maximum allowable delay bounds of networked control systems , 2003 .

[18]  Anthony Tzes,et al.  Robust stability bounds for networked controlled systems with unknown, bounded and varying delays , 2009 .

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

[20]  Dragan Nesic,et al.  Input-to-state stability of networked control systems , 2004, Autom..

[21]  Joao P. Hespanha,et al.  Tracking control for sampled‐data systems with uncertain time‐varying sampling intervals and delays , 2009 .

[22]  G. Nikolakopoulos,et al.  On the modeling of networked controlled systems , 2007, 2007 Mediterranean Conference on Control & Automation.

[23]  Nathan van de Wouw,et al.  Tracking control for networked control systems , 2007, 2007 46th IEEE Conference on Decision and Control.