Digital Control of Multiple Discrete Passive Plants Over Networks

TitleDigital Control of Multiple Discrete Passive Plants Over Networks
Publication TypeReport
Year of Publication2009
AuthorsKottenstette, N., J. Hall, X. Koutsoukos, P. J. Antsaklis, and J. Sztipanovits
Series TitleTechnical Report
Date Published03/2009
InstitutionInstitute for Software Integrated Systems, Vanderbilt University
CityNashville, TN
Report NumberISIS-09-102

This paper provides a passivity based framework to synthesize lm2-stable
digital control networks in which m strictly-output passive controllers can control n−m
strictly-output passive plants. The communication between the plants and controllers
can tolerate time varying delay and data dropouts. In particular, we introduce a power
junction which allows even a single controller (typically designed to control a single
plant) to accurately control the output of multiple plants even if the corresponding
dynamics of each plant is different. In addition to the power-junction we also introduce
a passive downsampler (PDS) and passive upsampler (PUS) in order to further reduce
networking traffic. A detailed (soft real-time) set of examples shows the tracking
performance of the networked control system.

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