Adaptive control of a Networked Control System with hierarchical scheduling

In this paper, we consider a special class of Networked Control Systems (NCS) that occur in embedded systems where a hierarchical schedule is employed and uncertainties may be present either in the plant or in the network. An adaptive controller is proposed to accommodate the effect of uncertainties. It is shown that this adaptive controller can accommodate the uncertainties, stabilize the system, make use of the structure of the hierarchical scheduler in its design, and result in improved performance compared to non-adaptive NCS.