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A Non-Uniform Predictor-Observer for a Networked Control System

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Abstract

This paper presents a Non-Uniform Predictor-Observer (NUPO) based control approach in order to deal with two of the main problems related to Networked Control Systems (NCS) or Sensor Networks (SN): time-varying delays and packet loss. In addition, if these delays are longer than the sampling period, the packet disordering phenomenon can appear. Due to these issues, a (scarce) nonuniform, delayed measurement signal could be received by the controller. But including the NUPO proposal in the control system, the delay will be compensated by the prediction stage, and the nonavailable data will be reconstructed by the observer stage. So, a delay-free, uniformly sampled controller design can be adopted. To ensure stability, the predictor must satisfy a feasibility problem based on a time-varying delay-dependent condition expressed in terms of Linear Matrix Inequalities (LMI). Some aspects like the relation between network delay and robustness/performance trade-off are empirically studied. A simulation example shows the benefits (robustness and control performance improvement) of the NUPO approach by comparison to another similar proposal.

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Authors and Affiliations

  1. Departamento de Ingeniería de Sistemas y Automática, Instituto Universitario de Automática e Informática Industrial, Universitat Politècnica de València, Camino de Vera s/n, 46022, Valencia, Spain

    Angel Cuenca, Pedro García, Pedro Albertos & Julián Salt

Authors
  1. Angel Cuenca
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  2. Pedro García
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  3. Pedro Albertos
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  4. Julián Salt
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Corresponding author

Correspondence to Angel Cuenca.

Additional information

Recommended by Editorial Board member Hamid Reza Karimi under the direction of Editor Shuzhi Sam Ge.

This work was supported by the Spanish Ministerio de Ciencia y Tecnología Projects DPI2008-06737-C02-01 and DPI2009-14744-C03-03, by Generalitat Valenciana Project GV/2010/018, by Universidad Politécnica de Valencia Project PAID06-08.

Angel Cuenca received his M.Sc. degree in Computer Science in 1998 and his Ph.D. in Control Engineering in 2004, from the Technical University of Valencia. Since 2000, he is an Assistant Professor with the Systems Engineering and Control Dept. at the Technical University of Valencia, Spain. He has co-authored over 30 papers in congress communications and journals. His research interests include multi-rate control systems, networked control systems, and event-based control systems.

Pedro García was born in Requena, Spain. In 2007 he obtained his Ph.D. in Control Systems and Industrial Computing from Technical University of Valencia, Spain. He is currently an Assistant Professor of Automatic Control at the Technical University of Valencia. He has co-authored more than ten papers in middle or top impact journals. His research interests are within the broad area of time delay systems and real time control.

Pedro Albertos is the past president of IFAC (the International Federation of Automatic Control) in 1999–2002, IFAC Fellow, IFAC Advisor and Senior Member of IEEE, is a world recognized expert in real-time control, leading several projects in the field. Since 1975, he is currently a Full Professor at Systems Engineering and Control Dept. UPV, Spain. He is Doctor Honoris-Causa from Oulu University (Finland) and Bucharest Polytechnic (Rumania). Invited Professor in more than 20 Universities, he delivered seminars in more than 30 universities and research centres. Authored over 300 papers, book chapters and congress communications, co-editor of 7 books and co-author of “Multivariable Control Systems” (Springer 2004) and “Feedback and Control for Everyone” (Springer 2010), he is also associated editor of Control Engineering Practice and Automatica and Editor in Chief of the Spanish journal RIAI. His research interest includes multivariable control and non-conventional sampling control systems, with focus on time delays and multirate sampling patterns.

Julián Salt received his M.Sc. degree in Industrial Engineering in 1986 and his Ph.D. degree in Control Engineering in 1992, from the Technical University of Valencia. His current position is as Full Professor at the Technical University of Valencia. Recently he was Head of the Department of Systems Engineering and Control at the Technical University of Valencia. He has been Director of nine PhD theses and coauthor of about 70 papers in journals and technical meetings. His research interests include non-conventionally sampled control and networked control systems.

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Cuenca, A., García, P., Albertos, P. et al. A Non-Uniform Predictor-Observer for a Networked Control System. Int. J. Control Autom. Syst. 9, 1194–1202 (2011). https://doi.org/10.1007/s12555-011-0621-5

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  • DOI: https://doi.org/10.1007/s12555-011-0621-5

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