Stochastic model predictive control for constrained networked control systems with random time delay

In this paper the continuous time stochastic constrained optimal control problem is formulated for the class of networked control systems assuming that time delays follow a discrete-time, finite Markov chain . Polytopic overapproximations of the system's trajectories are employed to produce a polyhedral inner approximation of the non-convex constraint set resulting from imposing the constraints in continuous time. The problem is cast in a Markov jump linear systems (MJLS) framework and a stochastic MPC controller is calculated explicitly, oine, coupling dynamic programming with parametric piecewise quadratic (PWQ) optimization. The calculated control law leads to stochastic stability of the closed loop system, in the mean square sense and respects the state and input constraints in continuous time

A delay-dependent dual-rate PID controller over an ethernet network

n this paper, a methodology to design controllers able to cope with different load conditions on an Ethernet network is introduced. Load conditions induce time-varying delays between measurements and control. To face these variations an interpolated, delay-dependent gain scheduling law is used. The lack of synchronization is solved by adopting an event-based control approach. The dual-rate control action computation is carried out at a remote controller, whereas control actions and measurements are taken out locally at the controlled process site. Stability is proved in terms of probabilistic linear matrix inequalities. TrueTime simulations in an Ethernet case show the benefit of the proposal, which is later validated on an experimental test-bed Ethernet environment.Manuscript received June 07, 2010; revised September 05, 2010; accepted September 15, 2010. Date of publication October 18, 2010; date of current version February 04, 2011. The authors A. Cuenca, J. Salt, and R. Piza are grateful to Grant PAID06-08 by the Universidad Politecnica de Valencia, Grant dpi2009-14744-c03-03 from the Spanish Ministry of Education, and Grant gv/2010/018 by Generalitat Valenciana. In addition, A. Cuenca is grateful to Grant dpi2008-06737-c02-01 by the Spanish Ministry of Education, and A. Sala is grateful to the financial support of the Spanish Ministry of Education Research Grant dpi2008-06731-c02-01, and Generalitat Valenciana Grant prometeo/2008/088. Paper no. TII-10-06-0127.Cuenca Lacruz, ÁM.; Salt Llobregat, JJ.; Sala Piqueras, A.; Pizá Fernández, R. (2011). A delay-dependent dual-rate PID controller over an ethernet network. IEEE Transactions on Industrial Informatics. 7(1):18-29. doi:10.1109/TII.2010.2085007S18297

LQ-optimal Sample-data Control under Stochastic Delays: Gridding Approach for Stabilizability and Detectability

We solve a linear quadratic optimal control problem for sampled-data systems with stochastic delays. The delays are stochastically determined by the last few delays. The proposed optimal controller can be efficiently computed by iteratively solving a Riccati difference equation, provided that a discrete-time Markov jump system equivalent to the sampled-data system is stochastic stabilizable and detectable. Sufficient conditions for these notions are provided in the form of linear matrix inequalities, from which stabilizing controllers and state observers can be constructed.Comment: 28 pages, 3 figure

N-Step MPC for Systems With Persistent Bounded Disturbances Under SCP

Royal Society of the UK; , the Natural Science Foundation of Shanghai; the Program for Capability Construction of Shanghai Provincial Universities; The Alexander von Humboldt Foundation of GermanyRoyal Society of the U.K.; Natural Science Foundation of Shanghai (Grant Number: 18ZR1427100); Program for Capability Construction of Shanghai Provincial Universities (Grant Number: 15550502500); Alexander von Humboldt Foundation of Germany

A Switched Approach to Robust Stabilization of Multiple Coupled Networked Control Systems

This paper proposes a switched approach to robust stabilization of a collection of coupled networked controlled systems (NCSs) with node devices acting over a limited communication channel. We suppose that the state information of every subsystem is split into different packets and only one packet of the subsystem can be transmitted at a time. Multiple NCSs with norm-bounded parameter uncertainties and multiple transmissions are modeled as a periodic switched system in this paper. State feedback controllers can be constructed in terms of linear matrix inequalities. A numerical example is given to show that a collection of uncertain NCSs with the problem of limited communication can be effectively stabilized via the designed controller