Stability Analysis of Networked Control Systems

OF THESIS Submitted in Partial Fulfillment of the Requirements for the Degree of Master of Science Electrical Engineering The University of New Mexico Albuquerque, New Mexico August, 2003 Stability Analysis of Networked Control Systems by Peter F. Al-Hokayem B.E. Computer and Communications Engineering, American University of Beirut, Lebanon, July 2001 M.S. Electrical Engineering, University of New Mexico, 2003

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

[2]  Jean C. Walrand,et al.  High-performance communication networks , 1999 .

[3]  Kishor S. Trivedi,et al.  Control Networks , 1998 .

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

[5]  M. Athans,et al.  Further results on the uncertainty threshold principle , 1977 .

[6]  Bassam Bamieh,et al.  A general framework for linear periodic systems with applications to H/sup infinity / sampled-data control , 1992 .

[7]  Bo Hu,et al.  Stability analysis of digital feedback control systems with time-varying sampling periods , 2000, Autom..

[8]  S. Mitter,et al.  Control of LQG systems under communication constraints , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[9]  Mitsushige Oda,et al.  Tele-manipulation of a satellite mounted robot by an on-ground astronaut , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[10]  B. Azimi-Sadjadi,et al.  Stability of networked control systems in the presence of packet losses , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[11]  Douglas E. Comer Computer networks and lnternets , 1996 .

[12]  Linda Bushnell,et al.  Asymptotic behavior of nonlinear networked control systems , 2001, IEEE Trans. Autom. Control..

[13]  M. Athans,et al.  The uncertainty threshold principle: Fundamental limitations of optimal decision making under dynamic uncertainty , 1976 .

[14]  A. Matveev,et al.  Optimal LQG control via limited capacity communication networks , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[15]  Wing Shing Wong,et al.  Systems with finite communication bandwidth constraints. II. Stabilization with limited information feedback , 1999, IEEE Trans. Autom. Control..

[16]  A. Sahai Evaluating channels for control: capacity reconsidered , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[17]  M. Mackey,et al.  Chaos, Fractals, and Noise: Stochastic Aspects of Dynamics , 1998 .

[18]  D. Liberzon STABILIZATION BY QUANTIZED STATE OR OUTPUT FEEDBACK: A HYBRID CONTROL APPROACH , 2002 .

[19]  Bruce A. Francis,et al.  Limited Data Rate in Control Systems with Networks , 2002 .

[20]  Daniel Liberzon Stabilizing a nonlinear system with limited information feedback , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[21]  Jan Lunze,et al.  Qualitative modelling of linear dynamical systems with quantized state measurements , 1994, Autom..

[22]  Qiang Ling,et al.  Soft real-time scheduling of networked control systems with dropouts governed by a Markov chain , 2003, Proceedings of the 2003 American Control Conference, 2003..

[23]  Ruzena Bajcsy,et al.  Telerobotics over communication networks , 1997, Proceedings of the 36th IEEE Conference on Decision and Control.

[24]  M. Egerstedt,et al.  Control with delayed and limited information: a first look , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[25]  Asok Ray,et al.  Integrated Communication and Control Systems: Part II—Design Considerations , 1988 .

[26]  Umit Ozguner,et al.  Automotive suspension control through a computer communication network , 1992, [Proceedings 1992] The First IEEE Conference on Control Applications.

[27]  Daniel Liberzon,et al.  Quantized feedback stabilization of linear systems , 2000, IEEE Trans. Autom. Control..

[28]  G. E. Taylor,et al.  Computer Controlled Systems: Theory and Design , 1985 .

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

[30]  Linda Bushnell,et al.  Stability analysis of networked control systems , 2002, IEEE Trans. Control. Syst. Technol..

[31]  Chaouki T. Abdallah,et al.  Effects of channel dynamics on the stability of teleoperation , 2003 .

[32]  Hong Wang,et al.  PERTURBATIONS IN NETWORKED CONTROL SYSTEMS , 2001 .

[33]  R. K. Jurgen,et al.  Coming from Detroit: Networks on wheels: Multiplexed wiring in new models promises cost-effective control and accurate diagnostics, as well as fewer wires and less redundancy , 1986, IEEE Spectrum.

[34]  Anant Sahai "Any-time" capacity and a separation theorem for tracking unstable processes , 2000, 2000 IEEE International Symposium on Information Theory (Cat. No.00CH37060).

[35]  Jean-Jacques E. Slotine,et al.  Towards force-reflecting teleoperation over the Internet , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[36]  Panos J. Antsaklis,et al.  Stochastic stability for model-based networked control systems , 2003, Proceedings of the 2003 American Control Conference, 2003..

[37]  Jean-Jacques E. Slotine,et al.  Stable Adaptive Teleoperation , 1990, 1990 American Control Conference.

[38]  Hisaya Fujioka,et al.  Performance optimization for a class of networked control systems with communication constraints , 2003, Proceedings of the 2003 American Control Conference, 2003..

[39]  Lei Xie,et al.  Stability analysis of networked control system , 2002, Proceedings. International Conference on Machine Learning and Cybernetics.

[40]  Andrea Goldsmith,et al.  Wireless communication tradeoffs in distributed control , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[41]  Mark W. Spong,et al.  PASSIVATION OF FORCE REFLECTING BILATERAL TELEOPERATORS WITH TIME VARYING DELAY , 2002 .

[42]  Mark W. Spong,et al.  Bilateral control of teleoperators with time delay , 1988, Proceedings of the 1988 IEEE International Conference on Systems, Man, and Cybernetics.

[43]  E. Yaz Linear Matrix Inequalities In System And Control Theory , 1998, Proceedings of the IEEE.

[44]  C. Hsu,et al.  Cell-To-Cell Mapping A Method of Global Analysis for Nonlinear Systems , 1987 .

[45]  Ravindra P. Patankar A model for fault-tolerant networked control system using TTP/C communication , 2004, IEEE Transactions on Vehicular Technology.

[46]  Donal Heffernan,et al.  Expanding Automotive Electronic Systems , 2002, Computer.

[47]  H. Witsenhausen A class of hybrid-state continuous-time dynamic systems , 1966 .

[48]  J.B.R. do Val,et al.  Stochastic stability for Markovian jump linear systems associated with a finite number of jump times , 2002, Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301).

[49]  Asok Ray,et al.  Integrated Communication and Control Systems: Part III—Nonidentical Sensor and Controller Sampling , 1990 .

[50]  Claudio Melchiorri,et al.  Force reflecting telemanipulators with time-delay: stability analysis and control design , 1998, IEEE Trans. Robotics Autom..

[51]  Tamer Basar,et al.  Remote control of LTI systems over networks with state quantization , 2005, Syst. Control. Lett..

[52]  Linda Bushnell,et al.  Error encoding algorithms for networked control systems , 2002, Autom..

[53]  S. Mitter,et al.  Quantization of linear systems , 1999, Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304).

[54]  R.S. Raji,et al.  Smart networks for control , 1994, IEEE Spectrum.

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

[56]  D. A. Bell,et al.  Information Theory and Reliable Communication , 1969 .

[57]  Stephen P. Boyd,et al.  Linear Matrix Inequalities in Systems and Control Theory , 1994 .

[58]  Sekhar Tatikonda,et al.  Control under communication constraints , 2004, IEEE Transactions on Automatic Control.

[59]  B. Francis,et al.  Optimal Sampled-data Control , 1995 .

[60]  Y. Tipsuwan,et al.  Network-based control systems: a tutorial , 2001, IECON'01. 27th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.37243).

[61]  M. Fragoso,et al.  Stability Results for Discrete-Time Linear Systems with Markovian Jumping Parameters , 1993 .

[62]  Wei Zhang,et al.  Stability of networked control systems: explicit analysis of delay , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[63]  Bruce A. Francis,et al.  Optimal Sampled-Data Control Systems , 1996, Communications and Control Engineering Series.

[64]  C. Abdallah,et al.  Delayed Positive Feedback Can Stabilize Oscillatory Systems , 1993, 1993 American Control Conference.

[65]  Daniel Liberzon,et al.  On quantized control and geometric optimization , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[66]  R. H. Myers,et al.  Probability and Statistics for Engineers and Scientists , 1978 .

[67]  John R. Beaumont,et al.  Large-Scale Systems: Modeling and Control , 1983 .

[68]  J. Hespanha,et al.  Towards the Control of Linear Systems with Minimum Bit-Rate , 2002 .

[69]  Mohan M. Trivedi,et al.  Web-based teleautonomy and telepresence , 2000, SPIE Optics + Photonics.

[70]  Claude E. Shannon,et al.  The zero error capacity of a noisy channel , 1956, IRE Trans. Inf. Theory.

[71]  Peter J Seiler,et al.  Analysis of communication losses in vehicle control problems , 2001, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148).

[72]  R. Safaric,et al.  Control of robot arm with virtual environment via the Internet , 2003, Proc. IEEE.

[73]  D. Delchamps Stabilizing a linear system with quantized state feedback , 1990 .

[74]  Linda Bushnell,et al.  An Equivalence Between a Control Network and a Switched Hybrid System , 1998, HSCC.

[75]  K. Chung,et al.  Stochastic Stability and Control, Mathematics in Science and Engineering , 1972 .

[76]  Gene F. Franklin,et al.  Digital control of dynamic systems , 1980 .

[77]  Jean-Jacques E. Slotine,et al.  Designing force reflecting teleoperators with large time delays to appear as virtual tools , 1997, Proceedings of International Conference on Robotics and Automation.

[78]  Nandit Soparkar,et al.  A design methodology for distributed control systems to optimize performance in the presence of time delays , 2001, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[79]  U. Ozguner,et al.  Stability of Linear Feedback Systems with Random Communication Delays , 1991, 1991 American Control Conference.

[80]  T. Katayama On the matrix Riccati equation for linear systems with random gain , 1976 .

[81]  Nicola Elia,et al.  Stabilization of linear systems with limited information , 2001, IEEE Trans. Autom. Control..

[82]  O. Beldiman,et al.  Asymptotic behavior of networked control systems , 1999, Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328).

[83]  R. Evans,et al.  Mean square stabilisability of stochastic linear systems with data rate constraints , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[84]  E. Boukas,et al.  Mean square stochastic stability of linear time-delay system with Markovian jumping parameters , 1998, IEEE Trans. Autom. Control..

[85]  Imad H. Elhajj,et al.  Supermedia-enhanced Internet-based telerobotics , 2003, Proc. IEEE.

[86]  Jan Lunze,et al.  Representation of Quantised Systems by the Frobenius-Perron Operator , 2001, HSCC.

[87]  J. Baillieul Feedback coding for information-based control: operating near the data-rate limit , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[88]  S. Niculescu Delay Effects on Stability: A Robust Control Approach , 2001 .

[89]  O. Yaniv IEEE Control Systems Magazine , 2001 .

[90]  Chaouki T. Abdallah,et al.  Networked control systems: a sampled-data approach , 2003, Proceedings of the 2003 IEEE International Symposium on Intelligent Control.

[91]  Qiang Ling,et al.  Optimal dropout compensation in networked control systems , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[92]  James Moyne,et al.  Performance evaluation of control networks: Ethernet, ControlNet, and DeviceNet , 2001 .

[93]  Joao B. R. do Val,et al.  Stochastic stability for Markovian jump linear systems associated with a finite number of jump times , 2003 .

[94]  Chaouki T. Abdallah,et al.  Linear Quadratic Control: An Introduction , 2000 .

[95]  W. Brockett,et al.  Minimum attention control , 1997, Proceedings of the 36th IEEE Conference on Decision and Control.

[96]  Roberto Oboe Force-reflecting teleoperation over the Internet: the JBIT project , 2003 .