A distributed controller approach for delay-independent stability of networked control systems

Authors:
Sandra Hirche;Tilemachos Matiakis;Martin Buss
Affiliations:
Institute of Automatic Control Engineering, Technische Universität München, D-80290 Munich, Germany;Institute of Automatic Control Engineering, Technische Universität München, D-80290 Munich, Germany;Institute of Automatic Control Engineering, Technische Universität München, D-80290 Munich, Germany
Venue:
Automatica (Journal of IFAC)
Year:
2009

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Abstract

This article introduces a novel distributed controller approach for networked control systems (NCS) to achieve finite gain L"2 stability independent of constant time delay. The proposed approach represents a generalization of the well-known scattering transformation which applies for passive systems only. The main results of this article are (a) a sufficient stability condition for general multi-input-multi-output (MIMO) input-feedforward-output-feedback-passive (IF-OFP) nonlinear systems and (b) a necessary and sufficient stability condition for linear time-invariant (LTI) single-input-single-output (SISO) systems. The performance advantages of the proposed approach are reduced sensitivity to time delay and improved steady state error compared to alternative known delay-independent small gain type approaches. Simulations validate the proposed approach.