Multi-Rate Networked Control of Conic Systems

TitleMulti-Rate Networked Control of Conic Systems
Publication TypeReport
Year of Publication2009
AuthorsKottenstette, N., H. LeBlanc, E. Eyisi, and X. Koutsoukos
Series TitleTechnical Report
Date Published09/2009
InstitutionInstitute for Software Integrated Systems, Vanderbilt University
CityNashville, TN
Report NumberISIS-09-108

Implementation uncertainties such as time varying
delay and data loss and having to typically implement
a discrete-time-controller can cause significant problems in the
design of networked control systems. This paper describes a
novel multi-rate digital-control system which preserves stability
and provides robustness to such implementation uncertainties.
We present necessary conditions for stability of conic systems
interconnected over digital-control-networks which can tolerate
networked delays and data-loss. We also compare the performance
using simulation results of the proposed architecture
to that of a classic-digital-control-implementation applied to
controlling position of a single-degree of freedom robotic

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