Optimal & Robust Scheduling for Networked Control Systems

Introduction Overview Motivation Control of Plants with Limited Communication Introduction Practical considerations Models for NCSs Control methods Scheduling methods Scheduling and controller codesign methods Structural and stability analysis Nonlinear NCSs Summary A General Framework for NCS Modeling Introduction Limited communication and schedulers NCS modeling NCS without ZOH Periodicity and discrete-time lifting Extension to multi-networks, subnetworks and task scheduling Multirate systems, a special case of NCSs NCSs, a special case of switched and delayed systems Application to a vehicle brake-by-wire control system Summary Controllability and Observability Introduction NCSs with ZOH NCSs without ZOH Sampled-data case Examples Summary Communication Sequence Optimization Introduction Optimization problem Optimization algorithms Constraint handling Optimizing for Optimization of NCSs which are multirate systems Applying the optimization to the vehicle brake-by-wire control system Summary Optimal Controller and Schedule Codesign Introduction Problem formulation Optimal codesign Examples Summary Optimal Schedule Design Introduction Problem formulation Optimal design Examples Summary Robust Schedule Design Introduction Formulation of an H -based cost for performance Formulation of a discrete H -based cost for robustness and performance Formulation of a sampled-data H -based cost for robustness and performance Optimal design with an example Summary Application to an Automotive Control System Introduction Vehicle model and controller design HIL from TTE systems Experiments on the HIL Experiments with FlexRay Summary Schedule Design for Nonlinear NCSs Introduction Discretization of nonlinear affine systems Sampled-data model of nonlinear NCS Quadratic cost function for NCS performance Optimization problem An SOS-framework for local cost computation Example Summary Bibliography Index

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