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WeC09.6
I. I NTRODUCTION
A networked control system (NCS) is composed of multiple feedback control loops that share a serial communication
channel. This architecture promotes ease of maintenance,
greater flexibility, and low cost, weight and volume. On the
other hand, if the communication is substantially delayed or
infrequent, the architecture can degrade the overall system
performance significantly. Results on the analysis of an
NCS include [12], [13], [14], [7], [8]. In an NCS, the
delay and frequency of communication between sensors and
actuators in a given loop is determined by a combination
of the channels limitations and the transmission protocol
used. Various protocols have been proposed in the literature,
including the round robin (RR) and try-once-discard
(TOD) protocols discussed in [12] and [13]. We note that
sampled-data systems are a special case of NCS since in
this case all sensor and control signals are transmitted at
each transmission instant.
When the individual loops in an NCS are designed assuming perfect communication, the stability of the NCS is largely
determined by the transmission protocol used and by the socalled maximum allowable transfer interval (MATI), i.e.,
the maximum allowable time between any two transmissions
in the network. When specialized to sampled-data systems,
this controller design approach is called emulation (see [5],
[2]). Following pioneering work of Walsh and co-authors
[13], [12], we consider the problem of characterizing the
length of the MATI for a given protocol to ensure uniform
global asymptotic or exponential stability. We also demonstrate that our results apply in a straightforward manner to
emulation of nonlinear controllers for digital implementation.
This appears to be the first result in the literature that
provides an explicit formula for the computation of MATI
in the context of emulation of nonlinear controllers.
In [7] the authors were able to improve on the initial MATI
bounds given in [13], [12] by efficiently summarizing the
properties of protocols through Lyapunov functions and characterizing the effect of transmission errors through Lp gains.
They established uniform asymptotic or exponential stability
1
1
M AT I ln 1 +
(1)
L
L +
where [0, 1) characterized the contraction of the protocols Lyapunov function at transmission times while L > 0
described its expansion between transmission times, and
> 0 captured the effect of the error signals on the behavior
of the ideal system through an Lp gain.1
In this paper, we will give a simple Lyapunov proof of an
improved (larger) MATI bound, expressed in terms , L and
corresponding to the case of L2 gains. (A similar approach
can be taken for the general Lp case.) In particular, we
establish uniform asymptotic or exponential stability when
M AT I
!
1
r(1 )
>L
arctan
2 1+
L 1 +1+
Lr
1 1
= L (2)
L
1+
!
r(1 )
1 arctanh
<L,
Lr
2 1+
L 1 +1+
and note that in the first and last expressions we use respectively the trigonometric and hyperbolic functions, where
s
1 .
(3)
r :=
L
1 (0) = 1 ,
1 (1 ) =
(4)
2 (0) = 1 ,
2 (2 ) =
(5)
and that necessarily 2 > 1 for all L > 0, > 0 and
(0, 1). The above equations can be obtained from appropriate
Lyapunov arguments that are presented later in our proofs.
The difference in the bounds for the batch reactor system
considered in [7] is reported in Table I. (For more discussion,
see Remark 1.) The improvement
p is on the order of 10%.
(The values L = 15.73, = 1/2, = 15.9222 for the
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WeC09.6
TABLE I
B OUNDS C OMPARISON FOR TOD/RR PROTOCOLS : BATCH R EACTOR IN
[7]
Definition
TOD
RR
0.01
0.0082
0.0108
0.009
percentage of increment
using the new M AT I
8.4 %
9.76%
Percentage of Increment
60
50
40
30
20
10
J1
[
([tj , tj+1 ], j )
j=0
0
0
100
80
0.5
60
40
20
45
Percentage of Increment
40
F ((t, j))
(t, j) C
G((tj+1 , j))
(tj+1 , j) D .
35
30
25
20
15
10
F ()
G()
D ,
(6)
5
0
1
0
0.8
0.5
0.6
0.4
0.2
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WeC09.6
III. P ROBLEM STATEMENT
In this section, we formally state the problem that we
consider and summarize the model of NCS from [7]. In the
next section, we will embed this model within the hybrid
framework of [3] by representing it in the form (6) that is
useful in our proofs.
We pursue the controller design technique proposed in
[12], [13] and further developed in [7], [8]. The plant model
is given by equations:
x P
y
=
=
fP (xP , u)
gP (xP ) .
(7)
=
=
fC (xC , y)
gC (xC ) .
(8)
y(t+
j )
u
(t+
j )
=
=
=
=
=
=
=
=
fP (xP , u
)
gP (xP )
fC (xC , y)
gC (xC )
fP (xP , xC , y, u
)
fC (xP , xC , y, u
)
y(tj ) + hy (i, e(tj ))
u(tj ) + hu (i, e(tj ))
Note that if NCS has links, then the error vector can be
partitioned as follows e = [eT1 eT2 . . . eT ]T . The functions
hu and hy are typically such that, if the ith link gets access
to the network at some transmission time tj we have that
the corresponding part of the error vector has a jump. For
several protocols, such as the round robin and Try-OnceDiscard protocols (see [7]), we typically assume that ei is
+
reset to zero at time t+
j , that is ei (tj ) = 0. However, we
emphasize that this assumption is not needed in general. This
allows us to write the models hu , hy for protocols commonly
found in the literature (see [7], [8] for more details).
We combine the controller and plant states into a vector
x := (xP , xC ) and using the error vector defined earlier
e = (ey , eu ), we can rewrite (9) as a system with jumps that
is more amenable for analysis:
(11)
(12)
x = f (x, 0)
(13)
represents the closed loop system (7), (8) without the network. We consider the following problem:
Problem: Suppose that the controller (8) was designed for the plant (7) so that the closed loop
system (7), (8) without network (equivalently, the
system (13)) is globally asymptotically stable. Determine the value of M AT I so that for any
(0, M AT I ] and all [, M AT I ], we have that
the NCS described by (10), (11), (12) is stable in
an appropriate sense.
(9)
e = g(x, e)
t [tj1 , tj ]
= h(j, e(tj )) ,
t [tj1 , tj ]
ey
y(t) y(t)
=
e(t) :=
.
u
(t) u(t)
eu
(10)
f (x, e)
e(t+
j )
t [tj1 , tj ]
t [tj1 , tj ]
t [tj1 , tj ]
t [tj1 , tj ]
x =
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WeC09.6
preliminaries section. In particular, we consider systems of
the form
x = f (x, e)
e = g(x, e)
[0, M AT I ]
= 1
= 0
(14)
x+ = x
+
e
= h(, e)
[, )
+ = 0
= +1
x(t, j)
x(0, 0) , t, j
(15)
e(0, 0)
e(t, j)
for all (t, j) in the solutions domain with > 0 (it avoids
Zeno solutions). The set is uniformly globally exponentially
stable if can be taken to have the form (s, t, k) =
M s exp((t + k)) for some M > 0 and > 0.
x(t, j)
max x(0, 0) , t, j , ,
e(0, 0)
e(t, j)
(16)
(17)
W ( + 1, h(, e)) W (, e)
(18)
W (, e)
, g(x, e) LW (, e) + H(x) ;
(19)
e
(20)
Theorem 1: Under Assumption 1, if M AT I in (14) satisfies the bound (2) and 0 < M AT I then, for the system
(14), the set {(x, e, , ) : x = 0, e = 0} is uniformly globally asymptotically stable. If, in addition, there exist strictly
positive real numbers W , W , a1 , a2 , and a3 such that
W |e| W (, e) W |e|, a1 |x|2 V (x) a2 |x|2 , and
(s) a3 s2 then this set is uniformly globally exponentially
stable.
In the proof of Theorem 1, Sec. VI-A it is shown that
V (x) + W 2 (, e) is a strict Lyapunov function for the
discrete-time system that is generated as the composition of
flows and jumps in the system (14).
Theorem 2: Consider the hybrid NCS (14). Suppose that
the following conditions hold.
1) There exist a function W : Z0 Rne R0 that is
locally Lipschitz in its second argument, a continuous,
positive definite function and class-K functions
W , W , such that, Z0 and e Rne ,
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W (|e|) W (, e) W (|e|)
(21)
(22)
WeC09.6
and for all Z0 and almost all e Rne ,
W (, e)
(|e|) .
(23)
= 2L (2 + 1)
(0) = 1 .
(29)
(30)
(31)
T
We will use the definitions := xT , eT , , and F () :=
T
f (x, e)T , g(x, e)T , 1, 0 . Define
U () := V (x) + ( )W 2 (, e) .
(28)
A. Proof of Theorem 1
Let : [0, M AT I ] R be the solution to
(27)
(26)
f (, e) U () .
U ( + ) V (x) + e W
(32)
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WeC09.6
Now the continuous-time arguments given in [1] or [11,
Lemma 2.1] can be used to assure that, for each pair of
e there exists M AT I > 0
strictly positive real numbers e <
such that, for almost all in the set
x
e
e
, [0, M AT I ] , Z0
(x, e, , ) :
e
we have
(34)
VIII. C ONCLUSIONS
. The third
2
s
b
R a ds
1 b
formula in (2), when < L follows from a (Lr/)2 s2 =
h
a i
b
1
. Then, the last formula
arctanh
arctanh
Lr
Lr
Lr
in (2) is obtained by
using the identity arctanh(c2 )
c2 c1
.
arctanh(c1 ) = arctanh 1c
2 c1
(35)
2 (0) = 1, 2 (2+ ) = , 2 (2 ) = 1 .
=
=
.
These
di+
d
d
d2
d
equations yield
d1+
1
d2+
1
=
,
=
,
d
L +
d
2L + (2 + 1)
1
1
d2
= 2
=
.
d
(2L1 + (2 + 1))
2L + (2 + 1)
Using 2 + 1 < 2, 1+ = 1 , and 2 = 2+ + 2 gives
d1
d2
<
.
(36)
d
d
Since 1 = 2 = 0 when = 1, the condition (36)
establishes the lemma.
B. Proof of Claim 1
Claim 1 follows immediately from the following lemma.
Lemma 2: The right-hand side of (2) is equal to the value
2 in (5) (cf. (25)).
R
d
Proof. By definition we can write 2 = 1 2 +2L+
=
L
R
L
1 +
ds
, where s := + , r
1 + L 2
Lr 2
s sgn(L)( )
is defined in (3) and sgn() is the sign function with
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