Analysis and modeling of networked control systems: MIMO case with multiple time delays

This paper discusses the modeling and analysis of networked control systems (NCS) where sensors, actuators, and controllers are distributed and interconnected by a common communication medium. Therefore, multiple distributed communication delays as well as multiple inputs and multiple outputs are considered in the modeling algorithm. In addition, the asynchronous sampling mechanisms of distributed sensors axe characterized to obtain the actual time delays between sensors and the controller. Due to the characteristics of a network architecture, piecewise constant plant inputs are assumed and discrete-time models of plant and controller dynamics are adopted to analyze the stability and performance of a closed-loop NCS. The analysis result is used to verify the stability and performance of an NCS if the controller is designed without considering the impact of multiple time delays. Also, the NCS model provided can be used as a foundation for further controller design to compensate for the distributed communication delays.