Development and experimental verification of a mobile client-centric networked controlled system

In this paper the development and experimental verification of mobile client-centric networked controlled system is presented. The feedback control loop is closed over a General Purpose Radio Service (GPRS) communication channel, between the plant and the controller. The inserted delays from the communication network, are time-varying, degrade the system dynamic performance, while forcing the system to instabilities. The designed controller has primitive characteristics and ensures the stability of the overall discrete time-delayed system. LMI-theory based theoretical results provide the worst-case scenario of the latency time that this controller can tolerate.