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Design and performance analysis of networked predictive control systems based on input-output difference equation model

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Abstract

This paper is concerned with the design and performance analysis of networked control systems, where random network-induced delay, packet disorder, and packet dropout in the feedback and forward channels are considered simultaneously and further treated as the round-trip time (RTT) delay. To actively compensate for the RTT delay, a networked predictive control scheme is designed based on the input-output difference equation model. For time-varying reference signals, the resulting closed-loop system can achieve the same output tracking performance and closed-loop stability as the corresponding local control system. Specifically, for the step reference input, it can provide a zero steady-state output tracking error. The controller design problem is solved by using the augmented state-space model as well as the static output feedback strategy. In addition, the stability of the closed-loop system is also discussed for the plant subject to bounded disturbances and modelling errors. Finally, simulation and experimental results are given to demonstrate the effectiveness of the proposed method.

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Author information

Authors and Affiliations

  1. Key Laboratory of Fieldbus Technology and Automation of Beijing, North China University of Technology, Beijing, 100144, China

    Zhong-Hua Pang & Dehui Sun

  2. School of Engineering, University of South Wales, Pontypridd, CF37 1DL, UK

    Guo-Ping Liu

  3. CTGT Center, Harbin Institute of Technology, Harbin, 150001, China

    Guo-Ping Liu

  4. College of Electrical Engineering and Automation, Shandong University of Science and Technology, Qingdao, 266590, China

    Donghua Zhou

  5. Department of Automation, Tsinghua University, Beijing, 100084, China

    Donghua Zhou

Authors
  1. Zhong-Hua Pang
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  2. Guo-Ping Liu
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  3. Donghua Zhou
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  4. Dehui Sun
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Corresponding author

Correspondence to Zhong-Hua Pang.

Additional information

Recommended by Associate Editor Hamid Reza Karimi under the direction of Editor Euntai Kim. This work was supported in part by the National Natural Science Foundation of China under Grants 61203230, 61273104, 61333003, 61210012, 61490701, 61290324, and 61673023, the Beijing Municipal Natural Science Foundation under Grant 4152014, the Outstanding Young Scientist Award Foundation of Shandong Province of China under Grant BS2013DX015, the Scientific Research Foundation of North China University of Technology (NCUT), the Excellent Youth Scholar Nurturing Program of NCUT, the Fund of Key Laboratory of Wireless Sensor Network and Communication, Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, the Fund of Key Laboratory of Embedded System and Service Computing, Ministry of Education, Tongji University, China, and the Research Fund for the Taishan Scholar Project of Shandong Province of China.

Zhong-Hua Pang received the B.Eng. degree in automation and the M.Eng. degree in control theory & control engineering from the Qingdao University of Science and Technology, in 2002 and 2005, respectively, and the Ph.D. degree in control theory & control engineering from the Institute of Automation, Chinese Academy of Sciences in 2011.

He was a postdoctoral fellow with the Department of Automation, Tsinghua University, China from 2011 to 2014. He is currently an associate professor in the College of Electrical and Control Engineering, North China University of Technology, China. His research interests include networked control systems and security of cyber-physical systems.

Guo-Ping Liu is the chair of control engineering in the University of South Wales. He received his B.Eng. and M.Eng. degrees in automation from the Central South University of Technology (now Central South University) in 1982 and 1985, respectively, and his Ph.D. degree in control engineering from UMIST (now University of Manchester) in 1992. He has been a professor in the University of SouthWales (formerly University of Glamorgan) since 2004, a Hundred-Talent Program visiting professor of the Chinese Academy of Sciences since 2001, and a Changjiang Scholar visiting professor of Harbin Institute of Technology since 2008. He is the editor-in-chief of the International Journal of Automation and Computing and IET fellow. He has authored more than 400 publications on control systems and authored/co-authored 8 books. His main research areas include networked control systems, nonlinear system control, and advanced control of industrial systems.

Donghua Zhou received the B.Eng., M.Sci., and Ph.D. degrees in electrical engineering from the Shanghai Jiaotong University in 1985, 1988, and 1990, respectively. He was an Alexander von Humboldt research fellow (1995-1996) in the University of Duisburg and a visiting scholar in the Yale University (Jul. 2001-Jan. 2002). He joined the Tsinghua University in 1997, and was a professor and the head of the Department of Automation, Tsinghua University, during 2008 and 2015. He is now the vice president of the Shandong University of Science and Technology. He has authored and coauthored over 130 peer-reviewed international journal papers and 6 monographs in the areas of fault diagnosis, fault-tolerant control, reliability prediction, and predictive maintenance. He is a member of the IFAC Technical Committee on Fault Diagnosis and Safety of Technical Processes, an associate editor of the Journal of Process Control, the associate Chairman of Chinese Association of Automation (CAA).

Dehui Sun received the B.Eng. degree in automation from the Northeastern University in 1983, and the Ph.D. degree in control theory & control engineering from the University of Science and Technology Beijing in 2005. Since 2002, he has been working as a professor in the Department of Automation, North China University of Technology, China. He is currently the director of the Key Laboratory of Fieldbus Technology and Automation of Beijing, and a member of the Fault Diagnosis and Fault Tolerant Control Technical Committee of Chinese Association of Automation. His research interests include field bus technology and networked control systems, as well as fault diagnosis and fault tolerant control.

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Pang, ZH., Liu, GP., Zhou, D. et al. Design and performance analysis of networked predictive control systems based on input-output difference equation model. Int. J. Control Autom. Syst. 15, 416–426 (2017). https://doi.org/10.1007/s12555-015-0154-4

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  • DOI: https://doi.org/10.1007/s12555-015-0154-4

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