Analysis and modeling of multi-rate networked control systems with long time delay

By multi-rate networked control systems, we mean the sampling periods of the sensor, the controller and the actuator in networked control systems are not the same, that is to say there are more than one sampling rates in networked control systems. The models of multi-rate networked control systems with no network-induced delay and long time delay are proposed respectively in this paper. It is stated that the multi-rate networked control systems with long time delay can be formulated as a discrete-time switched stochastic system. Especially the multi-rate networked control systems with long time delay can be formulated as a discrete-time switched deterministic system when the actuator is clock driven and the state noise is not considered. An example is given in the end.