Event-based Control and Scheduling Co-Design in Networked Control Systems with Bandwidth Limitation

Abstract

Event-based networked control systems (EBNCS) are a new branch of networked control systems (NCS) which some concept of digital systems such as sampling rate are eliminated, and data is transmitted based on system dynamics and disturbances. Using the network in these control systems induced new limitations, That the most important of those is bandwidth limit. Scheduling methods are the solution to handle this limitation in NCS. Although This concept has been developed and its algorithms have been extended in time-based NCS, these methods are not usable in event-based NCS; because in these systems, event scheduling requires the simultaneous design of the event-triggering rule and the control algorithm with respect of the bandwidth limit. In this paper, the above issue is examined and lead to a new co-design of control and scheduling. The design is based on linear matrix inequality (LMI) and guaranteed stability and performance due to the Lyapunov approach. This method is evaluated with numerical simulation on four coupled inverted pendulums.