Improved stability analysis of nonlinear networked control systems over multiple communication links

In this paper, we consider a nonlinear networked control system (NCS) in which controller, sensors and actuators are connected via several communication links. In Each link, networking effects such as the transmission delays, packet loss, sampling jiiter and data packet miss-ordering are captured by time-varying delays. Stability analysis is carried out based on the Lyapunov-Krasovskii method to obtain conditions for stability of the nonlinear NCS in the form of linear matrix inequality (LMI). The results are applied to a two degrees of freedom robot arm NCS which shows a considerable improvement with respect to the previous works.

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