Delay-independent stability of (Q, S, R)-dissipative networked systems with a distributed controller

In this paper a distributed control approach aiming at delay-independent stability of networked (Q,S,R)-dissipative systems is proposed. The key idea is to exploit the available computational power in the plant side to locally implement a static-output-feedback-input-feedforward controller. This controller can be interpreted as an invertible transformation of arbitrary dissipativity properties of the plant into finite L₂-gain properties which are invariant against unknown constant time delay. As a result delay-independent stability of the overall system is guaranteed if the original plant and controller satisfy the well-known dissipativity-based stability conditions for interconnected systems without time delay. Extensions to time-varying delay and packet loss are straightforward. The superior performance of the proposed approach is demonstrated in simulations.