Delay Compensation For Networked Control Systems And Scheduling And Control Co-design

The key issues of time delay and scheduling in networked control system (NCS) are studied in this dissertation.Firstly, the characteristics and differences of three kinds of industrial control networks are discussed. The fundamental issues in NCS are also presented.Secondly, different methods for time-delay compensation in NCS are introduced based on modeling of NCS. A novel fuzzy-predictor-based time-delay compensating algorithm for nonlinear networked control systems is presented and the stability of the closed-loop system is proved. Simulation results reveal the effectiveness of the presented algorithm.Finally, the co-design of scheduling and control in NCS is studied. When a CPU connects with more than two nodes, two classes of NCS's scheduling, task scheduling and network scheduling are investigated. Then a novel scheduling protocol based on RM-IAE is designed to integrate the performance of scheduling and control.