Networked PID control design: A pseudo-probabilistic robust approach

Networked Control Systems (NCS) are feedback/feed-forward control systems where control components (sensors, actuators and controllers) are distributed across a common communication network. In NCS, there exist network-induced delays in each channel. This paper proposes a method to compensate the effects of these delays for the design and tuning of PID controllers. The control design is formulated as a constrained optimization problem and the controller stability and robustness are incorporated as design constraints. The design is based on a polytopic description of the system using a Poisson pdf distribution of the delay. Simulation results are presented to demonstrate the performance of the proposed method.