@misc{456,
  author = {Nicholas Kottenstette and Heath LeBlanc and Emeka Eyisi and Xenofon Koutsoukos},
  title = {Multi-Rate Networked Control of Conic Systems},
  abstract = {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
manipulator.},
  year = {2009},
  journal = {Technical Report},
  month = {09/2009},
  publisher = {Institute for Software Integrated Systems, Vanderbilt University},
  address = {Nashville, TN},
}