Linear-quadratic optimal sliding plane design for networked control of dynamical systems

The paper addresses the problem of remote plant control in networked environment with the use of sliding-mode control. While introducing numerous benefits, networked control of dynamic systems brings the challenges of finite rate of information exchange and delay. In order to account for finite sampling, the study is conducted directly in discrete time domain. The main emphasis is placed on the design of sliding hyperplane for the systems involving information transfer delay. It is formally shown that the design of linear-quadratic (LQ) optimal plane for a discrete time-delay system may be reduced to plane selection for a delay-free system represented in delay compensator dynamics. The obtained solution relieves complexity of the optimization problem while maintaining robustness to mismatched disturbances of LQ optimal planes.