Abstract
This paper presents an implementation of a networked PI controller using a gain scheduling methodology with respect to real-time IP traffic conditions. The implementation enables the existing PI controller to be used over IP networks with a general network protocol like Ethernet. This paper first describes the controller design scheme using a generalized exponential distribution traffic model. The gain scheduling technique is also explained. The detail of networked PI controller implementation based on RTLinux on an actual DC motor setup is then described. Experimental results show that the proposed implementation is feasible to improve the performance of the PI controller operated over IP networks.
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