Networked control system design accounting for delay information

Abstract

In this paper a networked control system (NCS) design problem is discussed where a single digital controller and multiple plants interconnected by a common computer network with transfer time delays. The network-induced delays are assumed to be unknown constant in this paper, and a measuring method for delays in TCP/IP network is proposed to compensate the performance degradation due to the delay effect. An NCS is designed with LQR algorithm and applied to an inverted pendulum accounting for the multiple time delays as a benchmark plant to check its performance under time delays induced by the network. © Springer-Verlag 2004.