Frequency-domain stability conditions for asynchronously sampled decentralized LTI systems

Abstract

This paper deals with the exponential stability analysis of decentralized, sampled-data, Linear Time Invariant (LTI) control systems with asynchronous sensors and actuators. We consider the case where each controller in the decentralized setting has its own sampling and actuation frequency, which translates to asynchrony between sensors and actuators. Additionally, asynchrony may be induced by delays between the sampling instants and actuation update instants as relevant in a networked context. The decentralized, asynchronous LTI system is represented as the feedback interconnection of a continuous-time LTI system operator and an operator that captures the effects of asynchrony induced by sampling and delay. By characterizing the properties of the operators using small-gain type Integral Quadratic Constraints (IQC), we provide criteria for exponential stability of the asynchronous, decentralized LTI state-space models. The approach provided in this paper considers two scenarios, namely the ‘large-delay’ case and the ‘small-delay’ case where the delays are larger and smaller than the sampling interval, respectively. The effectiveness of the proposed results is corroborated by a numerical example.