Robust Tracking Control of Networked Control Systems: Application to a Networked DC Motor

• Published in: IEEE transactions on industrial electronics (1982) Vol. 60; no. 12; pp. 5864 - 5874
• Main Authors: Shi, Yang, Huang, Ji, Yu, Bo
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.12.2013; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuators; Augmentation; Control systems; Delay; Delay effects; Direct current; Disturbance rejection; Electric motors; Linear systems; Markov chains; Markov processes; Networked control systems; networked control systems (NCSs); Output feedback; step tracking; Studies; Synchronization; time delays; Tracking control; {\cal H}_{2} control and {\cal H}_{\infty} control
• ISSN: 0278-0046; 1557-9948
• DOI: 10.1109/TIE.2012.2233692

This paper investigates robust H 2 and H ∞ step tracking control methods for networked control systems subject to random time delays modeled by Markov chains. To make full use of the delay information, the proposed two-mode dependent output feedback controller depends on both sensor-to-controller and controller-to-actuator delays. To actively compensate for the controller-to-actuator delays, we propose the "send all, apply one" scheme: Sending a sequence of control signals, then at the actuator/plant node, applying the appropriate control signal according to the actual controller-to-actuator delay. Using the augmentation method, the resulting closed-loop system can be formulated as a discrete-time Markovian jump linear system. The H 2 and H ∞ step tracking problems are tackled by solving a set of linear matrix inequalities with nonconvex constraints. Both numerical simulations and experiments on a networked dc motor system are conducted to illustrate the effectiveness of the proposed methods.