Journal
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
Volume 8, Issue 2, Pages 473-481Publisher
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
DOI: 10.1007/s12555-010-0237-1
Keywords
Networked control system; network-induced delay; Smith predictor; PID controller tuning; Lyapunov theory
Categories
Funding
- Spanish Ministerio de Ciencia y Tecnologia [DPI2006-09162]
- Generalitat Valenciana [GVPRE/2008/094]
- Universidad Politecnica de Valencia [PAID06-08]
- FEDER
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This paper presents a control strategy to face time-varying delays induced in a Networked Control System (NCS). The delay is divided into two parts: the largest one (an integer multiple of the bus cycle) is compensated by means of an adaptive multi-rate Smith predictor, and the smallest one (whose value is strictly smaller than the bus cycle) via a gain scheduling approach based on root locus contour and linearization techniques. The gains to be scheduled belong to a multi-rate PID controller. Control system stability is studied by means of Lyapunov theory. Simulation results and the implementation on a test-bed Profibus-DP environment illustrate that this control structure can maintain NCS performance and stability, despite the considered delays.
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