Home > Automation > Control Engineering


[ pdf ] Real-Time Control Systems with Delays

Real-Time Control Systems with Delays Download
171
times
Topic under  Control Engineering
Source: www.control.lth.se 
File size: 1013.85 KB
File type: pdf
Last download on: Tue Oct 03, 2017 11:50:56 AM
Short Desciption:
Control loops that are closed over a communication network get more and more common as the hardware devices for network and network nodes become cheaper. A control system communicating with sensors and actuators over a communication network will be called a distributed real-time control system.

Summary:
Acknowledgments . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Outline of the Thesis and Publications . . . . . . . . . . . . . . 9 2. Problem Formulation . . . . . . . . . . . . . . . . . . . . . . . 13 2.1 Distributed Control . . . . . . . . . . . . . . . . . . . . . 13 2.2 Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 2.3 Clock Synchronization . . . . . . . . . . . . . . . . . . . . 20 2.4 RelatedWork . . . . . . . . . . . . . . . . . . . . . . . . . 23 3. Modeling of Network Delays . . . . . . . . . . . . . . . . . . 29 3.1 Network Modeled as Constant Delay . . . . . . . . . . . 29 3.2 Network Modeled as Delays Being Independent . . . . . 30 3.3 Network Modeled Using Markov Chain . . . . . . . . . . 31 3.4 Sampling of Systems with Network Delays . . . . . . . . 31 4. Experimental Delay Measurements . . . . . . . . . . . . . . 35 4.1 CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 4.2 Ethernet Network . . . . . . . . . . . . . . . . . . . . . . 50 4.3 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 5. Analysis and Control with Independent Delays . . . . . . 56 5.1 Closed Loop System . . . . . . . . . . . . . . . . . . . . . 56 5.2 Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 5.3 Simulation of Systems with Network Delays . . . . . . . 62 5.4 Optimal Stochastic Control . . . . . . . . . . . . . . . . . 63 5.5 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 5.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 5 Contents 6. Analysis and Control with Markov Delays . . . . . . . . . 76 6.1 Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 6.2 Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 6.3 Proof of Theorem 6.1 . . . . . . . . . . . . . . . . . . . . . 89 6.4 Optimal Stochastic Control . . . . . . . . . . . . . . . . . 92 6.5 Proof of Theorem 6.4 . . . . . . . . . . . . . . . . . . . . . 98 6.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 7. Special Topics . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 7.1 Markov Chain with Two Transitions Every Sample . . . 103 7.2 Sampling Interval Jitter . . . . . . . . . . . . . . . . . . . 106 7.3 Estimation of Markov State . . . . . . . . . . . . . . . . . 110 7.4 TheMIMO Problem . . . . . . . . . . . . . . . . . . . . . 111 7.5 Timeout . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 7.6 Timeout and Vacant Sampling . . . . . . . . . . . . . . . 120 7.7 Asynchronous Loops . . . . . . . . . . . . . . . . . . . . . 122 8. Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125 9. References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129 A. Kronecker Products . . . . . . . . . . . . . . . . . . . . . . . 133 A.1 Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . 133 A.2 Basic Rules of Calculation . . . . . . . . . . . . . . . . . 134 B. Some Results from Probability Theory . . . . . . . . . . . 135 B.1 Markov Chains . . . . . . . . . . . . . . . . . . . . . . . . 135 B.2 Conditional Independence . . . . . . . . . . . . . . . . . . 136
Bookmark or share this info on Google+ and leave comment at below :

Bookmark and Share

People who downloaded this also viewed in this sites:

INSTRUMENTATION AND CONTROL TUTORIAL CONTROL ACTION
This tutorial is of interest to any student studying control systems and in particular the EC module D227 - Control System Engineering. ...

Parameter Tuning and Cooperative Control for Automated Guided Vehicles
The key issue in the control design for cooperative transportation tasks is ...... For the control and observer design for the cooperative...

Integration in Access Control Systems
Our Integration Products Access Control Security Systems Intellilink Graphical User Interface was developed by AIC and provides a software package...

    Leave comment :
    "Real-Time Control Systems with Delays"

    Name*

    Comment


    Related Free Files

    Learning in Control... - Download: 125 times
    Control Systems Engineering... - Download: 598 times
    A Framework for Knowledge-Based Diagnosis in... - Download: 68 times
    Control System Theory in Maple... - Download: 201 times
    Modern Navigation Guidance and Control... - Download: 102 times
    Advanced Process Control Training... - Download: 860 times
    INDUSTRIAL AUTOMATION... - Download: 1600 times
    Design Modular Servo System Using MATLAB... - Download: 214 times
    Lecture 11 -Processes with Deadtime,... - Download: 192 times
    Utility Monitoring and Control Systems... - Download: 246 times


    eXTReMe Tracker