Optimal tracking performance and design of networked control systems with packet dropouts

Abstract

The optimal tracking problem for single-input–single-output (SISO) networked control system over a communication channel with packet dropouts is studied in this paper. The tracking performance is measured by the energy of the error signal between the output of the plant and the reference signal. It is shown that the optimal tracking performance is constrained by nonminimum phase zeros, unstable poles, the characteristics of the reference signal and packet dropout probability, and the optimal controller is obtained. It is also shown that when the communication constraint does not exist, the optimal tracking performance reduces to the existing normal tracking performance of the control system without a communication channel. The result shows how the packet dropouts probability of a communication channel may fundamentally constrain a control system's tracking ability. Some typical examples and simulations are given to illustrate the theoretical results.