智能调度的网络控制系统建模、分析与综合
|
摘要
网络控制系统(NCSs)是控制技术与网络技术相结合的产物，自提出以来就得到了广泛的关注。网络控制系统具有网络化的拓扑结构，系统数据具有时延和丢包的特性，使得控制系统现有的理论体系及方法都不再适应于网络控制系统。针对网络控制系统的特点，开展网络控制系统的理论及方法研究，是当今控制领域研究的热点及难点。目前来看，虽然NCSs的研究已经取得了大量的研究成果，但依旧存在诸多重要问题有待解决。本文在实际测量和分析网络状况对控制系统影响的基础上，以网络实际状况为基础，以提高算法的普适性和建模的有效性为目标，针对短时延网络和长时延网络，深入开展了NCSs的建模、分析、设计、参数优化及参数调度等问题的研究。论文的主要工作包括
1针对短时延NCSs，提出了镇定控制器分析、设计及参数优化方法。首先，采用矩阵增广法对系统进行了建模；其次，利用Lyapunov函数分析了系统的稳定性；然后，应用锥补线性化方法(CCL)求解了状态反馈增益；最后，将状态反馈控制器的设计问题转化为具有稳定域约束的优化问题，并采用分布估计算法(EDA)进行了求解。仿真结果表明：该方法设计的短时延NCSs具有较好的控制性能。
2为了提高短NCSs的性能，提出了智能调度控制器的建模、分析、设计及参数优化方法。分别以一段时间内的丢包率和平均网络时延来评估网络服务质量(QoS)，根据QoS划分来调度状态反馈增益和采样周期，并给出了控制器的建模、分析、设计及参数优化的方法。仿真结果表明：智能调度控制器能有效地改善NCSs的控制性能。
3针对长时延NCSs，提出了镇定控制器分析、设计、参数优化及参数调度的方法。依据实际网络条件将网络时延分解成固定时延和随机时延，在此基础上，提出了长时延网络控制系统的镇定控制器和增益调度控制器的建模、控制器设计、参数优化及参数调度方法。仿真结果表明：该方法设计的镇定控制器具有较好的控制性能，增益调度控制器能有效改善长时延NCSs的控制性能。
NCSs are the extension and application of computer network in the control field,whose study is an interdisciplinary research area, combining both network and controltheory. The insertion of network in NCSs raises new interesting and challengingproblems such as time delays and packet losses to be addressed, and conventionalcontrol theories must be re-evaluated before applying to NCSs. Recently, NCSs havebeen a hot research topic and a wealth of literature have appeared. However, there arestill some open problems to be addressed. To improve the universality of the networkedmethod, the problems of analysis and design of NCSs with short time delay and longtime delay are studied. The main contributions of the thesis are summarized as follows:
Firstly, the stabilization and optimization methods are proposed for NCSs withshort time delay. By using state augmentation technique, the closed-loop NCS isrepresented as a discrete-time switched system. Under this framework, the stabilitycondition is derived via Lyapunov approach, and the stabilizing control parameters canbe obtained by the cone complementary linearization method (CCL). Moreover, theoptimal controller design problem is also addressed, where distribution estimationalgorithm method (EDA) is used to compute the optimal control parameters. Simulationresults demonstrate that the resulting NCSs under the proposed method showsatisfactory control performance.
Secondly, to improve the control performance of the NCSs, the stabilization andoptimization problem based on control parameter scheduling strategy are addressed forNCSs with short time delay. The quality of service (QoS) of the network is estimated bythe packet loss ratio and the average network time delay in a period. Based on thevariation of QoS, the controller with both control parameters scheduling and samplingperiod scheduling is constructed. Simulation results demonstrate the effectiveness of theproposed methods.
Thirdly, the stabilization and optimization problem of NCSs with parameterscheduling are addressed for NCSs with long time delay. According to the actualnetwork conditions, the network time delay is divided into the fixed time delay and therandom time delay. Then, the stabilization controller and the gain scheduling controller are constructed, where the stabilizing control parameters are obtained with CCLapproach and the optimizing control parameters are solved with EDA algorithm.Simulation results demonstrate the effectiveness of the proposed methods.
1针对短时延NCSs，提出了镇定控制器分析、设计及参数优化方法。首先，采用矩阵增广法对系统进行了建模；其次，利用Lyapunov函数分析了系统的稳定性；然后，应用锥补线性化方法(CCL)求解了状态反馈增益；最后，将状态反馈控制器的设计问题转化为具有稳定域约束的优化问题，并采用分布估计算法(EDA)进行了求解。仿真结果表明：该方法设计的短时延NCSs具有较好的控制性能。
2为了提高短NCSs的性能，提出了智能调度控制器的建模、分析、设计及参数优化方法。分别以一段时间内的丢包率和平均网络时延来评估网络服务质量(QoS)，根据QoS划分来调度状态反馈增益和采样周期，并给出了控制器的建模、分析、设计及参数优化的方法。仿真结果表明：智能调度控制器能有效地改善NCSs的控制性能。
3针对长时延NCSs，提出了镇定控制器分析、设计、参数优化及参数调度的方法。依据实际网络条件将网络时延分解成固定时延和随机时延，在此基础上，提出了长时延网络控制系统的镇定控制器和增益调度控制器的建模、控制器设计、参数优化及参数调度方法。仿真结果表明：该方法设计的镇定控制器具有较好的控制性能，增益调度控制器能有效改善长时延NCSs的控制性能。
NCSs are the extension and application of computer network in the control field,whose study is an interdisciplinary research area, combining both network and controltheory. The insertion of network in NCSs raises new interesting and challengingproblems such as time delays and packet losses to be addressed, and conventionalcontrol theories must be re-evaluated before applying to NCSs. Recently, NCSs havebeen a hot research topic and a wealth of literature have appeared. However, there arestill some open problems to be addressed. To improve the universality of the networkedmethod, the problems of analysis and design of NCSs with short time delay and longtime delay are studied. The main contributions of the thesis are summarized as follows:
Firstly, the stabilization and optimization methods are proposed for NCSs withshort time delay. By using state augmentation technique, the closed-loop NCS isrepresented as a discrete-time switched system. Under this framework, the stabilitycondition is derived via Lyapunov approach, and the stabilizing control parameters canbe obtained by the cone complementary linearization method (CCL). Moreover, theoptimal controller design problem is also addressed, where distribution estimationalgorithm method (EDA) is used to compute the optimal control parameters. Simulationresults demonstrate that the resulting NCSs under the proposed method showsatisfactory control performance.
Secondly, to improve the control performance of the NCSs, the stabilization andoptimization problem based on control parameter scheduling strategy are addressed forNCSs with short time delay. The quality of service (QoS) of the network is estimated bythe packet loss ratio and the average network time delay in a period. Based on thevariation of QoS, the controller with both control parameters scheduling and samplingperiod scheduling is constructed. Simulation results demonstrate the effectiveness of theproposed methods.
Thirdly, the stabilization and optimization problem of NCSs with parameterscheduling are addressed for NCSs with long time delay. According to the actualnetwork conditions, the network time delay is divided into the fixed time delay and therandom time delay. Then, the stabilization controller and the gain scheduling controller are constructed, where the stabilizing control parameters are obtained with CCLapproach and the optimizing control parameters are solved with EDA algorithm.Simulation results demonstrate the effectiveness of the proposed methods.
引文
[1] G. C. Walsh, H. Ye, L. G. Bushnell. Stability analysis of networked controlsystems.Proceedings of American Control Conference. San Diego, IEEE,1999:2876-2880.
[2] T. Yang. Networked control system: a brief survey. IET Control Theory and Applications,2006,153(4):403-412.
[3]王岩,孙增圻.网络控制系统分析与设计.北京:清华大学出版社,2009.
[4] J. Hespanha, P. Naghshtabrizi, Y. Xu. A Survey of Recent Results in Networked ControlSystems. Proceedings of the IEEE,2007,95(1):138-162.
[5]孙德辉.网络化控制系统.北京:国防工业出版社,2008.
[6]王万良等.网络控制系统.北京:科学出版社,2010.
[7]邱占芳,张庆灵,杨春雨.网络控制系统分析与控制.北京:科学出版社,2009.
[8]关守平,周玮,尤富强.网络控制系统与应用.北京:电子工业出版社,2008.
[9] Y. Tipsuwan, M. Y. Chow. Control methodologies in networked control systems. ControlEngineering Practice,2003,11(10):1099-1111.
[10] H. Taub, L. Donald. Schilling. Principles of Communication Systems. McGraw-Hill,1986.
[11] J. H. Braslavsky, R. H. Middleton, J. S. Freudenberg. Feedback stabilization oversignal-to-noise ratio constrained channels. Proceedings of American Control Conference,2004:4903-4908.
[12] N. Elia, S. K. Mitter. Stabilization of linear systems with limited information. IEEE Trans.Automat.2001,46(9):384-1400.
[13] D. Liberzon, J. P. B. Hespanha. Stabilization of nonlinear systems with limited informationfeedback. IEEE Trans. Automat,2005,50(6):910-915.
[14] G. N. Nair, R. J. Evans, I. M. Y. Mareels, W. B. Moran. Topological feedback entropy andnonlinear stabilization, IEEE Trans.Automat. Contr.,2004,49(9):1585-1597.
[15]王飞跃,王成红基于网络控制的若干基本问题的思考和分析.自动化学报,2002,(S1):171-176.
[16]岳东,彭晨, Q. Han.网络控制与调度方法及其应用.北京:科学出版社,2007.
[17]任作新.网络化监督与控制系统.北京:国防工业出版社,2007.
[18]王永强,叶昊, Ding Steven,王桂增.带有传输受限和随机丢包的网络化控制系统的故障检测方法研究.自动化学报,2009,(09):1230-1234.
[19]王艳,陈庆伟,樊卫华,胡维礼.数据包丢失网络控制系统的保成本控制.控制理论与应用,2007,(02):249-254.
[20] Wei Zhang, M.S.Branicky, S.M Phillips. Stability of networked control systems. ControlSystems, IEEE.2001,21(1):84-99.
[21] Rogelio Luck, Asok Ray. Experimental verification of a delay compensation algorithm forintegrated communication and control systems. International Journal of Control,1994,59(6):1357-1372.
[22]马卫国,邵诚.网络控制系统随机稳定性研究.自动化学报,2007,(08):878-882.
[23]于之训,陈辉堂等.基于Markov延迟特性的闭环网络控制系统研究.控制理论与应用,2002,19(2):263-267.
[24]邵奇可,俞立,张贵军.网络时延在线估计技术与控制器的协同设计.自动化学报,2007,(07):781-784.
[25]孙业国,秦世引.有界丢包网络控制系统的稳定性与能稳性.自动化学报,2011,(01):113-117.
[26]戴建国,崔宝同.不确定非线性网络化系统的鲁棒H∞控制.控制理论与应用,2010,(11):1569-1574.
[27] A. Ray, Y. Halevi. Integrated communication and control systems: Part I-analysis. Journal ofDynamic Systems, Measurement, and Control,1988,110(4):367-373.
[28] A. Ray,Y. Halevi. Integrated communication and control systems: Part II-designconsiderations. Journal of Dynamic Systems, Measurement, and Control,1988,110(4):374-381.
[29] Huijun Gao, Tongwen Chen,James Lain． An new delay system approach to network–basedcontrol．Automatica,2008,44(1):39-52．
[30] D. S. Kim, Y. S. Lee, W. H. Kwon, et al. Maximum allowable delay bounds of networkedcontrol systems. Control Engineering Practice,2003,11(11):1301-1313.
[31]赵翔辉,郝飞.一类基于观测器的非线性网络化控制系统的绝对稳定性.自动化学报,2009,(07):933-944.
[32] R. Luck, A. Ray. Experimential verification of a delay compensation algorithm for integratedcommunication and control systems. International Journal of Control,1994,59(6):1357-1372.
[33]唐斌,曾启杰,章云.网络化最优优预预测状态估计.控制理论与应用,2011,(05):727-734.
[34]王宝凤,郭戈.具有Markovian时延与丢包的离散系统的状态估计.控制理论与应用,2009,(12):1331-1336.
[35] Johan Nilsson, Bo Bernhardsson, Bjorn Wittenmark. Stochastic analysis and control ofreal-time systems with random time delays．Automatica,1998,34(1):57-64．
[36]朱其新,胡寿松.刘亚无限时间长时延网络控制系统的随机最优控制.控制理论与应用,2004,(03):321-326.
[37]刘磊明,童朝南,武延坤.一种带有动态输出反馈控制器的网络控制系统的Markov跳变模型.自动化学报,2009,(05):627-631.
[38] F. Yang, Z. Wang, D. W. C. Ho, et al. Robust H∞control with missing measurements andtime delays. IEEE Trans. on Automatic Control,2007,52(9):1666-1672.
[39]马卫国,邵诚.网络控制系统随机稳定性研究.自动化学报,2007,33(8):878-882.
[40] J. Wu, T. Chen. Design of networked control systems with packet dropouts. IEEE Trans. onAutomatic Control,2007,52(7):1314-1319.
[41]王武,詹耀清,杨富文.一类网络控制系统的H2方法.自动化学报,2008,34(2):219-224.
[42] B. Almutairin. Adaptive fuzzy modulation for networked PI control systems．Carolina：NorthCarolina State University,2002．
[43] X. Jiang, Q. L. Han. On designing fuzzy controllers for a class of nonlinear networked controlsystems. IEEE Transactions on Fuzzy Systems,2008,16(4):1050-1060.
[44]贾新春,郑利红,池小波,张大伟.一类非线性网络控制系统镇定的新方法.自动化学报,2009,(11):1476-1480.
[45] Faik Goktas. Distributed control of systems over communication networks．PhD Dissertation,University of Pennsylvania Philadelphia,2000．
[47]戴建国,崔宝同.不确定非线性网络化系统的鲁棒H∞控制.控制理论与应用.2010,(11):1569-1574.
[48] Seung Ho Hong. Scheduling Algorithm of Data Sampling Times in the IntegratedCommunication and Control Systems. IEEE transactions on Control Systems Technology,1995,3(2):225-230.
[49]岳东,彭晨, Q. Han.网络控制与调度方法及其应用.北京:科学出版社,2007.
[50]李祖欣,王万良,成新民.资源约束网络的优化带宽调度.自动化学报,2009,(04):443-448.
[51] W. Zhang. Stability analysis of networked control systems．Cleveland：Case Western ReserveUniversity,2001．
[52] W. Zhang, M. S. Branicky, S. M. Phillips． Stability of networked control systems. IEEEControl Systems Magazine,2001,21(1):84-99．
[53] M. S. Branicky, S. M. Phillips, Zhang Wei. Scheduling and feedback codesign for networkedcontrol systems. Proc of IEEE Conference on Decision and Control, Las Vegas: IEEE Press,2002(1):2ll-217.
[54]蔡骅,胡维礼,樊卫华等．时廷网络控制系统调度与稳定性．南京理工大学学报(自然科学版),2005,29(3):349-351.
[55] S. H. Hong. Bandwidth allocation Scheme for cyclic-Service fieldbus networks. IEEE ASMETransactions on Mechatronics,2001,6(2):197-204.
[56] P. Raja, G. Ulloa, E. P. Lausanne. Priority polling and dynamic time-window mechanisms in amulticycle fieldbus. Proceedings of the Computers in Design,Manufacturing and Production,Los Alamitos, CA, USA,1993:452-460.
[57] J. A. Stankovic, M. Spuri, K. Ramamritham, et al. Deadline scheduling for real-time systems:EDF and related algorithms. MA: Kluwer Academic Publishers,1998.
[58] G. C. Walsh, Ye Hong. Scheduling of networked control systems. IEEE Control SystemMagazine,2001,21(1):57-65.
[59] M. Anvari, C. McKinley, H. Stein. Establishment of the World's First Telerobotic RemoteSurgical Service For Provision of Advanced Laparoscopic Surgery in a Rural Community.Annals of Surgery,2005,241(3):460-464.
[60] M. Anvari. Remote telepresence surgery: the Canadian experience Surgical Endoscopy.2007,21(4):537-541.
[61] M. Anvari. Telesurgery: remote knowledge translation in clinical surgery. World Journal ofSurgery,2007,31(8):1545-1550.
[62] M. Y. Chow, Y. Tipsuwan. Gain adaptation of networked DC motor controllers based on QoSvariations. IEEE Trans. on Industrial Electronics,2003,50(5):936-943.
[63] G. P. Liu, Y. Xia, J. Chen, et al. Networked Predictive Control of Systems With RandomNetwork Delays in Both Forward and Feedback Channels. IEEE Trans. on IndustrialElectronics,2007,54(3):1282-1297.
[64] Y. B. Zhao, G. P. Liu, D. Rees. Networked predictive control systems based on theHammerstein model. IEEE Trans. on Circuits and Systems II,2008,55(5):469-473.
[65]路亚娟.网络控制理论及其在鱼雷制导系统中的应用[硕士学位论文].西北工业大学,2006.
[66] J. A. Sparks. Low cost technologies for aerospace applications. Microprocessors andMicrosystems,1997,20(8):449-454.
[67] Y. Tipsuwan, M. Y. Chow. Gain adaptation of networked mobile robot to compensate QoSdeterioration. The28th annual conference of the IEEE industrial electronics society, Sevilla,Spain,2002:3146-3151.
[68]王庆鹏,谈大龙,陈宁.基于Internet的机器人控制中网络时延测试及分析.机器人,2001,23(4):316-352.
[69]彭刚,黄兴汉,蒋毅.网络延时和负荷变化对基于网络的遥操作机器人系统的影响和解决方法.计算机工程与应用,2002,38(11):12-15.
[70] M. R. Stein. Interactive internet artistry. IEEE Roboties and Automtion Magazine,2000,7(2):28-32.
[71] S.H. Yang, X.Chen, J. L. Alty. Design issues and implementation of lnternet-based proeesscontrol systems. Control Engineering Practiee,2003,11(6):709-720.
[72]李云,龙志强.磁悬浮系统网络化控制器的设计与实现.系统仿真学报,2009,(14):4420-4423.
[73]刘彩.下一代网的发展趋势.中国通信年鉴,人民邮电出版社,2010.
[74] J. Nilsson. Real-Time Control Systems with Delays. PhD Dissertation, Department ofAutomatic Control, Lund Institute of Technology,1998.
[75]周晓兵,费敏锐,李力雄.基于应用层的以太网网络诱导延时测量及统计分析.信息与控制,2005,34(6):641-646.
[76]任作新.网络化监督与控制系统.北京:国防工业出版社,2007.
[77]霍志红.网络化控制系统故障诊断与容错控制.北京:水利水电出版社,2009.
[78]谈杰,李星.网络测量综述.计算机应用研究,2006:47-50.
[79]蒋一波.现代分布式工业监控系统中网络测量与控制关键技术的研究与应用[博士学位论文].浙江工业大学,2008.
[80]裴育杰.面向互联网流量工程的网络测量及路由调整算法研究[博士学位论文].北京邮电大学,2009.
[81]张国敏,陈鸣,王亮,周晓.支持大规模分布式网络测量的组件自配置机制.吉林大学学报(信息科学版),2007,(01):91-97.
[82]李霞,任益芳.网络测量分析.科技信息,2006,(08):124-127.
[83].J. Xiong, J. Lam. Stabilization of linear systems over networks with bounded packet loss.Automatica,2007,43(1):80-87.
[84] D. Yue, Q. L. Han, J. Lam. Network-based robust H∞control of systems with uncertainty.Automatica,2005,41(6),999-1007.
[85]黄弘.关于正定厄米特矩阵的Schur补的迹和特征值的不等式.数学杂志,2007,27(2):188-190.
[86] L. Ghaoui, F. Oustry, M.AitRami. A cone complementarity linearization algorithm for staticoutput-feedback and related problems. IEEE Transactions on Automatic Control,1997,42(8):1171-1176.
[87] C. González. Contributions on Theoretical Aspects of Estimation of Distribution Algorithms.PhD Dissertation, University of the Basque Country, Spain,2005.
[88] Y. Cai, X. Sun, and P. Jia. Probabilistic modeling for continuous EDA with Boltzmannselection and Kullback-Leibeler divergence. Proc. of the8th Annual Conf. on Genetic andEvolutionary Computation,2006:389-396.
[89] P. A Bosman, J. Grahl, Matching inductive search bias and problem structure in continuousEstimation-of-Distribution algorithms. European Journal of Operational Research,2008,185(3):1246-1264.
[90] F. L. Lian. Analysis, Design, Modeling, and Control of Networked Control Systems, Ph.D.Dissertation, University of Michigan,2001.
[91] F. L. Lian, J. Moyne, D. Tilbury. Network design consideration for distributed control systems.Control Systems Technology, IEEE Transactions,2002,10(2):297-307.
[92]李洪波.基于切换模型的网络控制系统镇定与优化[博士学位论文].清华大学,2009.
[93]孙增圻.计算机控制理论与应用.北京：清华大学出版社,2008.
[2] T. Yang. Networked control system: a brief survey. IET Control Theory and Applications,2006,153(4):403-412.
[3]王岩,孙增圻.网络控制系统分析与设计.北京:清华大学出版社,2009.
[4] J. Hespanha, P. Naghshtabrizi, Y. Xu. A Survey of Recent Results in Networked ControlSystems. Proceedings of the IEEE,2007,95(1):138-162.
[5]孙德辉.网络化控制系统.北京:国防工业出版社,2008.
[6]王万良等.网络控制系统.北京:科学出版社,2010.
[7]邱占芳,张庆灵,杨春雨.网络控制系统分析与控制.北京:科学出版社,2009.
[8]关守平,周玮,尤富强.网络控制系统与应用.北京:电子工业出版社,2008.
[9] Y. Tipsuwan, M. Y. Chow. Control methodologies in networked control systems. ControlEngineering Practice,2003,11(10):1099-1111.
[10] H. Taub, L. Donald. Schilling. Principles of Communication Systems. McGraw-Hill,1986.
[11] J. H. Braslavsky, R. H. Middleton, J. S. Freudenberg. Feedback stabilization oversignal-to-noise ratio constrained channels. Proceedings of American Control Conference,2004:4903-4908.
[12] N. Elia, S. K. Mitter. Stabilization of linear systems with limited information. IEEE Trans.Automat.2001,46(9):384-1400.
[13] D. Liberzon, J. P. B. Hespanha. Stabilization of nonlinear systems with limited informationfeedback. IEEE Trans. Automat,2005,50(6):910-915.
[14] G. N. Nair, R. J. Evans, I. M. Y. Mareels, W. B. Moran. Topological feedback entropy andnonlinear stabilization, IEEE Trans.Automat. Contr.,2004,49(9):1585-1597.
[15]王飞跃,王成红基于网络控制的若干基本问题的思考和分析.自动化学报,2002,(S1):171-176.
[16]岳东,彭晨, Q. Han.网络控制与调度方法及其应用.北京:科学出版社,2007.
[17]任作新.网络化监督与控制系统.北京:国防工业出版社,2007.
[18]王永强,叶昊, Ding Steven,王桂增.带有传输受限和随机丢包的网络化控制系统的故障检测方法研究.自动化学报,2009,(09):1230-1234.
[19]王艳,陈庆伟,樊卫华,胡维礼.数据包丢失网络控制系统的保成本控制.控制理论与应用,2007,(02):249-254.
[20] Wei Zhang, M.S.Branicky, S.M Phillips. Stability of networked control systems. ControlSystems, IEEE.2001,21(1):84-99.
[21] Rogelio Luck, Asok Ray. Experimental verification of a delay compensation algorithm forintegrated communication and control systems. International Journal of Control,1994,59(6):1357-1372.
[22]马卫国,邵诚.网络控制系统随机稳定性研究.自动化学报,2007,(08):878-882.
[23]于之训,陈辉堂等.基于Markov延迟特性的闭环网络控制系统研究.控制理论与应用,2002,19(2):263-267.
[24]邵奇可,俞立,张贵军.网络时延在线估计技术与控制器的协同设计.自动化学报,2007,(07):781-784.
[25]孙业国,秦世引.有界丢包网络控制系统的稳定性与能稳性.自动化学报,2011,(01):113-117.
[26]戴建国,崔宝同.不确定非线性网络化系统的鲁棒H∞控制.控制理论与应用,2010,(11):1569-1574.
[27] A. Ray, Y. Halevi. Integrated communication and control systems: Part I-analysis. Journal ofDynamic Systems, Measurement, and Control,1988,110(4):367-373.
[28] A. Ray,Y. Halevi. Integrated communication and control systems: Part II-designconsiderations. Journal of Dynamic Systems, Measurement, and Control,1988,110(4):374-381.
[29] Huijun Gao, Tongwen Chen,James Lain． An new delay system approach to network–basedcontrol．Automatica,2008,44(1):39-52．
[30] D. S. Kim, Y. S. Lee, W. H. Kwon, et al. Maximum allowable delay bounds of networkedcontrol systems. Control Engineering Practice,2003,11(11):1301-1313.
[31]赵翔辉,郝飞.一类基于观测器的非线性网络化控制系统的绝对稳定性.自动化学报,2009,(07):933-944.
[32] R. Luck, A. Ray. Experimential verification of a delay compensation algorithm for integratedcommunication and control systems. International Journal of Control,1994,59(6):1357-1372.
[33]唐斌,曾启杰,章云.网络化最优优预预测状态估计.控制理论与应用,2011,(05):727-734.
[34]王宝凤,郭戈.具有Markovian时延与丢包的离散系统的状态估计.控制理论与应用,2009,(12):1331-1336.
[35] Johan Nilsson, Bo Bernhardsson, Bjorn Wittenmark. Stochastic analysis and control ofreal-time systems with random time delays．Automatica,1998,34(1):57-64．
[36]朱其新,胡寿松.刘亚无限时间长时延网络控制系统的随机最优控制.控制理论与应用,2004,(03):321-326.
[37]刘磊明,童朝南,武延坤.一种带有动态输出反馈控制器的网络控制系统的Markov跳变模型.自动化学报,2009,(05):627-631.
[38] F. Yang, Z. Wang, D. W. C. Ho, et al. Robust H∞control with missing measurements andtime delays. IEEE Trans. on Automatic Control,2007,52(9):1666-1672.
[39]马卫国,邵诚.网络控制系统随机稳定性研究.自动化学报,2007,33(8):878-882.
[40] J. Wu, T. Chen. Design of networked control systems with packet dropouts. IEEE Trans. onAutomatic Control,2007,52(7):1314-1319.
[41]王武,詹耀清,杨富文.一类网络控制系统的H2方法.自动化学报,2008,34(2):219-224.
[42] B. Almutairin. Adaptive fuzzy modulation for networked PI control systems．Carolina：NorthCarolina State University,2002．
[43] X. Jiang, Q. L. Han. On designing fuzzy controllers for a class of nonlinear networked controlsystems. IEEE Transactions on Fuzzy Systems,2008,16(4):1050-1060.
[44]贾新春,郑利红,池小波,张大伟.一类非线性网络控制系统镇定的新方法.自动化学报,2009,(11):1476-1480.
[45] Faik Goktas. Distributed control of systems over communication networks．PhD Dissertation,University of Pennsylvania Philadelphia,2000．
[47]戴建国,崔宝同.不确定非线性网络化系统的鲁棒H∞控制.控制理论与应用.2010,(11):1569-1574.
[48] Seung Ho Hong. Scheduling Algorithm of Data Sampling Times in the IntegratedCommunication and Control Systems. IEEE transactions on Control Systems Technology,1995,3(2):225-230.
[49]岳东,彭晨, Q. Han.网络控制与调度方法及其应用.北京:科学出版社,2007.
[50]李祖欣,王万良,成新民.资源约束网络的优化带宽调度.自动化学报,2009,(04):443-448.
[51] W. Zhang. Stability analysis of networked control systems．Cleveland：Case Western ReserveUniversity,2001．
[52] W. Zhang, M. S. Branicky, S. M. Phillips． Stability of networked control systems. IEEEControl Systems Magazine,2001,21(1):84-99．
[53] M. S. Branicky, S. M. Phillips, Zhang Wei. Scheduling and feedback codesign for networkedcontrol systems. Proc of IEEE Conference on Decision and Control, Las Vegas: IEEE Press,2002(1):2ll-217.
[54]蔡骅,胡维礼,樊卫华等．时廷网络控制系统调度与稳定性．南京理工大学学报(自然科学版),2005,29(3):349-351.
[55] S. H. Hong. Bandwidth allocation Scheme for cyclic-Service fieldbus networks. IEEE ASMETransactions on Mechatronics,2001,6(2):197-204.
[56] P. Raja, G. Ulloa, E. P. Lausanne. Priority polling and dynamic time-window mechanisms in amulticycle fieldbus. Proceedings of the Computers in Design,Manufacturing and Production,Los Alamitos, CA, USA,1993:452-460.
[57] J. A. Stankovic, M. Spuri, K. Ramamritham, et al. Deadline scheduling for real-time systems:EDF and related algorithms. MA: Kluwer Academic Publishers,1998.
[58] G. C. Walsh, Ye Hong. Scheduling of networked control systems. IEEE Control SystemMagazine,2001,21(1):57-65.
[59] M. Anvari, C. McKinley, H. Stein. Establishment of the World's First Telerobotic RemoteSurgical Service For Provision of Advanced Laparoscopic Surgery in a Rural Community.Annals of Surgery,2005,241(3):460-464.
[60] M. Anvari. Remote telepresence surgery: the Canadian experience Surgical Endoscopy.2007,21(4):537-541.
[61] M. Anvari. Telesurgery: remote knowledge translation in clinical surgery. World Journal ofSurgery,2007,31(8):1545-1550.
[62] M. Y. Chow, Y. Tipsuwan. Gain adaptation of networked DC motor controllers based on QoSvariations. IEEE Trans. on Industrial Electronics,2003,50(5):936-943.
[63] G. P. Liu, Y. Xia, J. Chen, et al. Networked Predictive Control of Systems With RandomNetwork Delays in Both Forward and Feedback Channels. IEEE Trans. on IndustrialElectronics,2007,54(3):1282-1297.
[64] Y. B. Zhao, G. P. Liu, D. Rees. Networked predictive control systems based on theHammerstein model. IEEE Trans. on Circuits and Systems II,2008,55(5):469-473.
[65]路亚娟.网络控制理论及其在鱼雷制导系统中的应用[硕士学位论文].西北工业大学,2006.
[66] J. A. Sparks. Low cost technologies for aerospace applications. Microprocessors andMicrosystems,1997,20(8):449-454.
[67] Y. Tipsuwan, M. Y. Chow. Gain adaptation of networked mobile robot to compensate QoSdeterioration. The28th annual conference of the IEEE industrial electronics society, Sevilla,Spain,2002:3146-3151.
[68]王庆鹏,谈大龙,陈宁.基于Internet的机器人控制中网络时延测试及分析.机器人,2001,23(4):316-352.
[69]彭刚,黄兴汉,蒋毅.网络延时和负荷变化对基于网络的遥操作机器人系统的影响和解决方法.计算机工程与应用,2002,38(11):12-15.
[70] M. R. Stein. Interactive internet artistry. IEEE Roboties and Automtion Magazine,2000,7(2):28-32.
[71] S.H. Yang, X.Chen, J. L. Alty. Design issues and implementation of lnternet-based proeesscontrol systems. Control Engineering Practiee,2003,11(6):709-720.
[72]李云,龙志强.磁悬浮系统网络化控制器的设计与实现.系统仿真学报,2009,(14):4420-4423.
[73]刘彩.下一代网的发展趋势.中国通信年鉴,人民邮电出版社,2010.
[74] J. Nilsson. Real-Time Control Systems with Delays. PhD Dissertation, Department ofAutomatic Control, Lund Institute of Technology,1998.
[75]周晓兵,费敏锐,李力雄.基于应用层的以太网网络诱导延时测量及统计分析.信息与控制,2005,34(6):641-646.
[76]任作新.网络化监督与控制系统.北京:国防工业出版社,2007.
[77]霍志红.网络化控制系统故障诊断与容错控制.北京:水利水电出版社,2009.
[78]谈杰,李星.网络测量综述.计算机应用研究,2006:47-50.
[79]蒋一波.现代分布式工业监控系统中网络测量与控制关键技术的研究与应用[博士学位论文].浙江工业大学,2008.
[80]裴育杰.面向互联网流量工程的网络测量及路由调整算法研究[博士学位论文].北京邮电大学,2009.
[81]张国敏,陈鸣,王亮,周晓.支持大规模分布式网络测量的组件自配置机制.吉林大学学报(信息科学版),2007,(01):91-97.
[82]李霞,任益芳.网络测量分析.科技信息,2006,(08):124-127.
[83].J. Xiong, J. Lam. Stabilization of linear systems over networks with bounded packet loss.Automatica,2007,43(1):80-87.
[84] D. Yue, Q. L. Han, J. Lam. Network-based robust H∞control of systems with uncertainty.Automatica,2005,41(6),999-1007.
[85]黄弘.关于正定厄米特矩阵的Schur补的迹和特征值的不等式.数学杂志,2007,27(2):188-190.
[86] L. Ghaoui, F. Oustry, M.AitRami. A cone complementarity linearization algorithm for staticoutput-feedback and related problems. IEEE Transactions on Automatic Control,1997,42(8):1171-1176.
[87] C. González. Contributions on Theoretical Aspects of Estimation of Distribution Algorithms.PhD Dissertation, University of the Basque Country, Spain,2005.
[88] Y. Cai, X. Sun, and P. Jia. Probabilistic modeling for continuous EDA with Boltzmannselection and Kullback-Leibeler divergence. Proc. of the8th Annual Conf. on Genetic andEvolutionary Computation,2006:389-396.
[89] P. A Bosman, J. Grahl, Matching inductive search bias and problem structure in continuousEstimation-of-Distribution algorithms. European Journal of Operational Research,2008,185(3):1246-1264.
[90] F. L. Lian. Analysis, Design, Modeling, and Control of Networked Control Systems, Ph.D.Dissertation, University of Michigan,2001.
[91] F. L. Lian, J. Moyne, D. Tilbury. Network design consideration for distributed control systems.Control Systems Technology, IEEE Transactions,2002,10(2):297-307.
[92]李洪波.基于切换模型的网络控制系统镇定与优化[博士学位论文].清华大学,2009.
[93]孙增圻.计算机控制理论与应用.北京：清华大学出版社,2008.