Co-design of dynamic scheduling strategy and controller in networked control systems

Considering the networked control systems with multi-loop sharing the CAN resource,by using the broadcast characteristic of CAN,a dynamic close-loop schedule policy is proposed.A monitor is used to acquire the network qualities of service(QoS) periodically,then the sample period of control systems is adjusted according to the QoS.The NCS which adopts the scheduling policy is a time-vary sample period system which is modeled as a discrete system with parametric uncertainties.Based on the model,robust stability and controller design method of the NCS are studied and the final example validates the effectiveness of the proposed method.