Resilient RMPC for Cyber-Physical Systems With Polytopic Uncertainties and State Saturation Under TOD Scheduling: An ADT Approach

Abstract

This article presents a resilient robust model predictive control (RMPC) strategy for cyber-physical systems (CPSs) with polytopic uncertainties and state saturation nonlinearities under the try-once-discard (TOD) scheduling. To reduce the transmission burden, a so-called TOD protocol is adopted to schedule the nodes. The objective of the addressed problem is to design a set of resilient RMPC controllers such that, in the simultaneous presence of polytopic uncertainties and state saturations under the TOD protocol, the resilience, robustness, and exponential stability are guaranteed for the underlying CPSs. With the help of TOD-dependent Lyapunov-like function, and the average dwell-time (ADT) approach, sufficient conditions are obtained to guarantee the recursive feasibility of the proposed resilient RMPC approach and the exponential stability of the closed-loop system. Finally, two examples including a high-purity distillation process and a numerical simulation are used to demonstrate the effectiveness of the proposed methods.