Design of Multi-rate MIMO Internet-based Control Systems

Abstract

This chapter presents a design method for multi-rate Internet-based control systems to achieve load minimization and dynamic performance specifications in a single-input and single-output system. It avoids the complexity of large-scale system design by focusing on individual control systems. In the multi-rate control scheme described in the previous chapter, the plant under control is first stabilized by a local controller with a high sampling rate. The remote controller, which regulates the output according to the desirable reference, adopts a low sampling rate to reduce load on the network. In this chapter, the upper bound of the remote controller’s sampling interval, which meets the requirement on control performance, is derived and a simple tuning method when the remote controller is chosen as a PID is presented. Simulation and experiemental studies are provided for illustration.