Computation on the Optimal Control of Networked Control Systems with Multiple Switching Modes Over High Speed Local Area Networks

The optimal control problem for the networked control system with multiple switching modes over high speed local area networks is addressed, where an initial state is a parametric vector. Because in the general case, the time delay is much less than the sampling period and the possibility of the packets collision is much lower, it can be assumed that the influence of the time delay and the packets loss on the optimal controller design can be ignored. On the basis of the assumption, the networked control systems with multiple switching modes are modeled as a hybrid system. Moreover, based on the Bellman type inequality for the hybrid systems, a dynamic program to solve the optimal control with a parameter vector is proposed, in every step of the technique, the feasible region is divided into evenly distributed grid points, and then, the optimal control law is transformed into maximizing the lower bound of the cost to go function in grid points. Finally, an experiment setup of the networked control system with multiple switching modes is constructed and a simulation example is given to illustrate the optimal control computation results.