Step tracking control with disturbance rejection for networked control systems with random time delays

This paper presents the robust ¿₂ and ¿_¿ 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 static output feedback controller to be designed is dependent on both sensor-to-controller and controller-to-actuator delays. Using the augmentation method, the resulting closed-loop system belongs to the discrete-time Markovian jump linear systems (MJLSs). The ¿₂ and ¿_¿ step tracking problems are formulated in the form of a set of linear matrix inequalities (LMIs) with nonconvex constraints, which can be solved by iterative convex optimization methods. Design examples on a VTOL helicopter are provided to illustrate the effectiveness of the proposed methods.