Title :
Robust Stability of Networked Control Systems with Time-varying Network-induced Delays
Author :
Cloosterman, Marieke ; van de Wouw, N. ; Heemels, Maurice ; Nijmeijer, Henk
Author_Institution :
Dept. of Mech. Eng., Eindhoven Univ. of Technol.
Abstract :
In this paper, the stability of a networked control system (NCS) with time-varying delays is analyzed. A discrete-time state-space model is used to analyze the dynamics of the NCS. The delay is introduced by the network itself and is assumed to be upperbounded by a fraction of the sample-time. A typical motion control example is presented in which the time-variation of the delay results in an unstable system, although for each fixed delay the system is stable. Conditions in terms of LMIs are presented guaranteeing the robust asymptotic stability of the discrete-time system, given bounds on the uncertain time-varying delay. Moreover, it is shown that the robust stability conditions also guarantee asymptotic stability of the intersample behavior. Additionally, LMIs are presented to synthesize a feedback controller that stabilizes the system for the uncertain time-varying delay. The results are illustrated on an example concerning a mechanical model of a motor driving a roller in a printer
Keywords :
asymptotic stability; delay systems; discrete time systems; feedback; linear matrix inequalities; motion control; state-space methods; time-varying systems; LMI; discrete-time state-space model; feedback controller; intersample behavior; mechanical model; motion control; networked control system; robust asymptotic stability; time-varying network-induced delays; uncertain time-varying delay; Adaptive control; Asymptotic stability; Control system synthesis; Delay systems; Motion control; Networked control systems; Printers; Robust stability; Stability analysis; Time varying systems;
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
DOI :
10.1109/CDC.2006.376765