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NETWORK‐INDUCED DELAY‐DEPENDENT H ∞ CONTROLLER DESIGN FOR A CLASS OF NETWORKED CONTROL SYSTEMS
Author(s) -
Jiang Xiefu,
Han QingLong
Publication year - 2006
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1111/j.1934-6093.2006.tb00259.x
Subject(s) - control theory (sociology) , linearization , inverted pendulum , controller (irrigation) , mathematics , linear matrix inequality , interval (graph theory) , nonlinear system , exponential stability , full state feedback , computer science , mathematical optimization , control (management) , physics , quantum mechanics , artificial intelligence , combinatorics , agronomy , biology
This paper is concerned with the problem of robust H ∞ controller design for a class of uncertain networked control systems (NCSs). The network‐induced delay is of an interval‐like time‐varying type integer, which means that both lower and upper bounds for such a kind of delay are available. The parameter uncertainties are assumed to be normbounded and possibly time‐varying. Based on Lyapunov‐Krasovskii functional approach, a robust H ∞ controller for uncertain NCSs is designed by using a sum inequality which is first introduced and plays an important role in deriving the controller. A delay‐dependent condition for the existence of a state feedback controller, which ensures internal asymptotic stability and a prescribed H ∞ performance level of the closed‐loop system for all admissible uncertainties, is proposed in terms of a nonlinear matrix inequality which can be solved by a linearization algorithm, and no parameters need to be adjusted. A numerical example about a balancing problem of an inverted pendulum on a cart is given to show the effectiveness of the proposed design method.