An approach based on an adaptive multi-rate smith predictor and gain scheduling for a networked control system: Implementation over Profibus-DP

  • Angel Cuenca
  • Julián Salt
  • Vicente Casanova
  • Ricardo Pizá
Technical Notes and Correspondence


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.


Networked control system network-induced delay Smith predictor PID controller tuning Lyapunov theory 


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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Angel Cuenca
    • 1
  • Julián Salt
    • 1
  • Vicente Casanova
    • 1
  • Ricardo Pizá
    • 1
  1. 1.Departamento de Ingeniería de Sistemas y Automática, Instituto Universitario de Automática e Informática IndustrialUniversidad Politécnica de ValenciaValenciaSpain

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