Delay Scheduled Impulsive Control for Networked Control Systems

Abstract

This paper presents a new design approach for networked control systems under the integral quadratic constraint (IQC) framework. Two types of network induced time-varying delays, that is, measurement delay and actuation delay, are considered. A novel delay scheduled impulsive (DSI) controller is proposed, which utilizes both plant state and the IQC dynamic state, as well as the real-time network-induced delay information for gain scheduling feedback control. Robust ${\mathcal L}_{2}$ stability analysis of the resulting impulsive closed-loop system is performed using dynamic IQCs combined with a clock-dependent storage function. Based on the analysis results, the synthesis conditions for the proposed DSI controller are established as a finite number of linear matrix inequalities by specifying a piecewise linear storage function, which can be solved effectively via convex optimization. Finally, an application to a dc motor system demonstrates the effectiveness and advantages of the proposed design approach.