Robust stability of a class of Networked Control Systems

Abstract

Networked Control Systems (NCSs) affected with packet dropouts and scheduling are considered. The undesirable effects of packet dropouts and scheduling, such as instability or deteriorated performance, are addressed by application of a protocol and controller co-design method. The used method exploits Model Predictive Control (MPC) framework and the flexible NCS architecture which allows for distributed computation. Uniform Global Asymptotic Stability (UGAS) is established by assuming a finite bound on the number of consecutive packet dropouts and appropriate modifications to often adopted MPC stability-related assumptions. Two approaches that demonstrate UGAS are provided. The proof of one approach consists of finding an appropriate Lyapunov candidate function, while the other uses a cascade stability idea.