网络控制系统分析、建模及控制研究
|
摘要
网络控制系统(NCS)是控制科学、计算机技术及网络通讯等技术发展和综合的产物。NCS具有连线少、灵活性强、便于故障诊断和信息资源共享等众多优点,但控制系统引入网络后,由于带宽有限、分时复用、数据传输路径不确定等都会导致信息传输中的等待、阻塞及丢包等现象,不可避免地产生时延。这些受负载、通信协议等影响的时延,无论固定或时变还是有界或无界,都会不同程度影响控制系统性能,甚至导致系统失稳,这给NCS分析、设计和控制带来很大困难。因此,如何针对NCS自身特点,应用已有控制理论分析设计方法或建立新的理论和方法来解决NCS中存在的问题,成为人们研究的一个热点。
本文对NCS中实时性、采样选择、时延等问题进行了分析,讨论了影响实时性因素和改善实时性方法,研究了采样和时延对系统性能影响。在考虑系统扰动基础上,建立了更具一般性的多输入多输出线性NCS连续时间模型。研究了四种不同驱动模式下,信息传输的时序以及具有任意有界时延NCS的离散模型和统一模型,建立了任意有界时延的MIMO网络控制系统离散模型,拓展了模型的适用范围。
针对确定时延NCS,给出了基于输出反馈的状态观测器和控制器设计,以保证闭环NCS稳定性和良好的控制性能。给出了滑模变结构时滞补偿控制算法,提出了一种具有补偿控制时延的滑模面,所设计的滑模控制器保证了闭环系统的稳定性,得到了使系统稳定的最大允许网络时延,仿真表明了方法的有效性。针对具有不确定性闭环NCS,推导了时延相关和时延独立的稳定性条件,得到在时延相关情况下使不确定性闭环NCS稳定的允许时延上界。
针对时变时延NCS,将其视为离散跳变系统,利用离散跳变系统分析方法给出NCS稳定的充要条件。针对变采样和时延NCS,基于区间代数和矩阵集合稳定性理论,通过构建一个更宽松的区间系统来分析原系统的稳定性,所给稳定性分析方法简单有效。为抑制时延对NCS性能影响,提出了模糊免疫自调整PID控制方法,所设计控制器具有较强的适应性,可使NCS获得更好动态特性。
在时变时延仅存在反馈通道和时延同时存在反馈通道及前向通道这两种情况下,对具有不确定性的闭环NCS稳定性进行了分析,以线性矩阵不等式的形式给出了系统稳定性条件。对于存在丢包和变时延的NCS,在信息单包传输时,推导了时延无界/有界情况下闭环NCS渐进稳定的条件;在多包传输情况下,得到了时延变化率在不同情况下的NCS的渐进稳定的充分条件。
Networked Control System (NCS) is an outcome of development and integration of control science, computer technology, network communication and other technologies. NCS reduces complexity in wiring connection, provides ease in maintenance and enables information shared among users. When network is introduced in the system, delay or packet dropout is induced by waiting, collision and congestion because of bandwidth constraint, time sharing multiplexing, uncertainty in transmission path, etc. The delay, which is affected by network load, communication protocol and some other factors, whether constant, time-varying, bounded or unbounded, can influence control performance, it can even cause system instability, which brings difficulties to analysis and design of NCS. Therefore, how to use existing control theory approaches or create new theory and means to solve the problems in NCS is a hot issue for researchers, pointing at NCS characteristics.
Analysis of real-time characteristic, sampling period choice and time delay in NCS is made, factors that influence real-time characteristics and methods to reduce delay are discussed. Impact of sampling period and delay on system performance is also studied. A general continuous model of multiple inputs and multiple outputs (MIMO) linear networked control system is built, considering system disturbance. Graphs of time sequence of information transmission and discrete models of NCS with any bounded delay are constructed at four different driven modes. Discrete models of MIMO networked control system with any bounded delay are also established, which extends the range of model application.
For NCS with deterministic delay, design of controller and state observer based on output feedback is presented, which guarantees stability of close-loop system and good performance. Sliding mode variable structure control scheme with delay compensation is given,then a sliding manifold that compensates control delay is introduced, the designed sliding controller guarantees the stability of closed loop system, and upper bound of allowed delay is given, simulation shows the effectiveness of the approach. Stability analysis criteria of delay-dependent and delay-independent for non-deterministic closed-loop NCS is derived, the maximum allowable network-induced delay for delay-dependent NCS with uncertainty is obtained.
For NCS with time-varying delay, it is considered as a discrete time jump system,
本文对NCS中实时性、采样选择、时延等问题进行了分析,讨论了影响实时性因素和改善实时性方法,研究了采样和时延对系统性能影响。在考虑系统扰动基础上,建立了更具一般性的多输入多输出线性NCS连续时间模型。研究了四种不同驱动模式下,信息传输的时序以及具有任意有界时延NCS的离散模型和统一模型,建立了任意有界时延的MIMO网络控制系统离散模型,拓展了模型的适用范围。
针对确定时延NCS,给出了基于输出反馈的状态观测器和控制器设计,以保证闭环NCS稳定性和良好的控制性能。给出了滑模变结构时滞补偿控制算法,提出了一种具有补偿控制时延的滑模面,所设计的滑模控制器保证了闭环系统的稳定性,得到了使系统稳定的最大允许网络时延,仿真表明了方法的有效性。针对具有不确定性闭环NCS,推导了时延相关和时延独立的稳定性条件,得到在时延相关情况下使不确定性闭环NCS稳定的允许时延上界。
针对时变时延NCS,将其视为离散跳变系统,利用离散跳变系统分析方法给出NCS稳定的充要条件。针对变采样和时延NCS,基于区间代数和矩阵集合稳定性理论,通过构建一个更宽松的区间系统来分析原系统的稳定性,所给稳定性分析方法简单有效。为抑制时延对NCS性能影响,提出了模糊免疫自调整PID控制方法,所设计控制器具有较强的适应性,可使NCS获得更好动态特性。
在时变时延仅存在反馈通道和时延同时存在反馈通道及前向通道这两种情况下,对具有不确定性的闭环NCS稳定性进行了分析,以线性矩阵不等式的形式给出了系统稳定性条件。对于存在丢包和变时延的NCS,在信息单包传输时,推导了时延无界/有界情况下闭环NCS渐进稳定的条件;在多包传输情况下,得到了时延变化率在不同情况下的NCS的渐进稳定的充分条件。
Networked Control System (NCS) is an outcome of development and integration of control science, computer technology, network communication and other technologies. NCS reduces complexity in wiring connection, provides ease in maintenance and enables information shared among users. When network is introduced in the system, delay or packet dropout is induced by waiting, collision and congestion because of bandwidth constraint, time sharing multiplexing, uncertainty in transmission path, etc. The delay, which is affected by network load, communication protocol and some other factors, whether constant, time-varying, bounded or unbounded, can influence control performance, it can even cause system instability, which brings difficulties to analysis and design of NCS. Therefore, how to use existing control theory approaches or create new theory and means to solve the problems in NCS is a hot issue for researchers, pointing at NCS characteristics.
Analysis of real-time characteristic, sampling period choice and time delay in NCS is made, factors that influence real-time characteristics and methods to reduce delay are discussed. Impact of sampling period and delay on system performance is also studied. A general continuous model of multiple inputs and multiple outputs (MIMO) linear networked control system is built, considering system disturbance. Graphs of time sequence of information transmission and discrete models of NCS with any bounded delay are constructed at four different driven modes. Discrete models of MIMO networked control system with any bounded delay are also established, which extends the range of model application.
For NCS with deterministic delay, design of controller and state observer based on output feedback is presented, which guarantees stability of close-loop system and good performance. Sliding mode variable structure control scheme with delay compensation is given,then a sliding manifold that compensates control delay is introduced, the designed sliding controller guarantees the stability of closed loop system, and upper bound of allowed delay is given, simulation shows the effectiveness of the approach. Stability analysis criteria of delay-dependent and delay-independent for non-deterministic closed-loop NCS is derived, the maximum allowable network-induced delay for delay-dependent NCS with uncertainty is obtained.
For NCS with time-varying delay, it is considered as a discrete time jump system,
引文
[1] Kondraske, G. V., et al, Network-based infrastructure for distributed remote operations and robotics research, IEEE Transactions on Robotics and Automation, 1993, 9(5): 702-704
[2] Goktas, F., Distributed control of systems over communication networks. Ph.D. Dissertation, University of Pennsylvania,2000
[3] Kaplan, G. Ethernet’s winning ways. IEEE Spectrum, 2000, 38(1):113-115
[4] Overstreet, J. W., & Tzes, A., An Internet-based real-time control engineering laboratory, IEEE Control Systems Magazine, 1999, 19(5):19-34
[5] Hong Y., Research on networked control systems, Department of Mechanical Engineering, Phd dissertation, 2000
[6] Tarn, T.J., & Xi, N., Planning and control of internet-based teleoperation, Proceedings of SPIE: Telemanipulator and telepresence technologies, Boston, MA, Vol. 3524, 1998. 189-193
[7] Aundrup T., Lantermann J., and Gruning M. et al, Evaluating and assessing a necessary generation change in network control systems, IEEE, 14th International Conference and Exhibition on Electricity Distribution, 1997.441-445
[8] Xiao Y. S., Su Y. Q., and Yue J.G,Design an analysis of the networked control system of flight simulation platform, In: Proceedings of the 4th World Congress on intelligent Control and Automation, 2002.2775--2777
[9] 孙富春,孙增沂,文献忠,网络控制,2001年中国智能自动化会议论文集(上) 中国昆明,2001.42-50
[10] Hong, S. H., Kim, W.H., Bandwidth allocation scheme in CAN protocol. IEEE Proceedings of Control Theory and Applications, 2000, 147(1): 37-44.
[11] Husein S., and Cooling J.E., Networked control systems plant interfacing issues, In: International Conference on Control, 1991.1187-1192
[12] Raji, R.S., Smart networks for control, 1994, 31(6):49-55
[13] Otanez Paul G., T Jonathan.Parrott,Moyne James R et al. The Implications of Ethernet as a Control Network, Globe Powertrain Conference Ann Arbor,MI,2002
[14] Gadi K., Ethemet’s winning Ways, IEEE Spectrum, January 2001.113-115
[15] Liu, X., Goldsmith, A., Wireless medium access control in networked control systems, American Control Conference, Proceedings of the 2004 Volume 4, July 2004:3605-3610
[16] Hong Y., Wireless Local Area Networks in the Manufacturing Industry. Proceedings the American Control Conference. Chicago,Illinois,2000,(4):2363-2367
[17] Eker J,Cervin A,Horjel A. Distributed Wireless Control Using Bluetooth,IFAC, Conference on New Technologies for Computer Contro1.Hong Kong ,P.R China,2001
[18] Zhang W., Stability Analysis of Networked Control Systems, PhD dissertation, Department of Electrical Engineering and Computer Science, Case Western Reserve University, August 2001
[19] Walsh G. C., H.Ye, and L. Bushnell, Stability analysis of networked control systems in Proceedings of American Control Conference, San Diego, June, 1999. 2876-2880
[20] Montestruque, L.A.,Antsaklis, P.,Stability of model-based networked control systems with time-varying transmission times,Automatic Control, IEEE Transactions on Volume 49, Issue 9, Sept,2004.1562- 1572
[21] Nillsson J,Real- time control systems with delays. PhD thesis, Lund Institute of Technology, Sweden, 1998
[22] Sichitiu M.L., Bauer P.H., Stability of discrete time-variant linear delay systems and applications to network control, proceeding of the IEEE ICECS, September 2001. 985-989
[23] Beldiman O.V., Networked control systems. Department of Electrical and computer Engineering, [Phd Dissertation], Duke University, 2001
[24] 朱其新等,长时滞网络控制系统的随机稳定性研究.东南大学学报(自然科学版),2003, 3,3(3):368-372
[25] 窦连旺, 网络控制系统的建模、稳定性分析及其调度的研究,[博士学位论文],天津,天津大学,2003.12
[26] Luck, R. & Ray, An Observer-based Compensator for Distributed Delays.Automatica, 1990, 26(5): 903-908
[27] Liou, L.W., & Ray, A., Integrated communication and control systems: Part III—nonidentical sensor and controller sampling. Journal of Dynamic Systems, Measurement, and Control, 1990, (112): 357-364
[28] Luck, R., & Ray, A. An observer-based compensator for distributed delays, Automatica, 1990, 26(5):903–908
[29] Luck, R. & Ray, A., Experimental verification of a delay compensation algorithm for integrated communication and control systems , International Journal of Control, 1994,59 (6):1357–1372
[30] Walsh G.C., Beldiman O., and Bushnell L., Asymptotic behavior of networked control systems. IEEE transactions on Automatic Control, 2001, 46(7):1093-1097
[31] Ishii H., Francis B.A., Stabilizing a linear system by switching control with dwell time. IEEE Transactions on Automatic Control, 2002, 47(12): 1962-1973
[32] Beldiman O, Walsh G.C, Predictors for networked control systems, Proceeding of the American Control Conference, Chicago, Illinois, June 2000.2347-2351
[33] Nillsson J., Bemhardsson B., Witenmark B., Stochastic analysis and control of real-time systems with random time delays. Automatics, 1998, 34(1):57-64
[34] Ray A., Output feedback control under randomly varying distributed delays. Journal of Guidance, Control and Dynamics , 1994, 17(4):701-711
[35] 于之训,陈辉堂,王月娟,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
[36] Halevi Y,Ray A,Integrated communication and control systems: Part I-analysis, Journal of Dynamic Systems, Measurement, and Control, 1988, 110(4):367-37
[37] Yang Y.Q., Xu D., Tan M.,Hybrid and stochastic stabilization analysis and H ∞control for networked control systems ,Robotics, Automation and Mechatronics, 2004 IEEE Conference on Volume 1, Dec,2004,502-506
[38] 朱其新,胡寿松,网络控制系统的随机输出反馈控制,应用科学学报,Vol.22, No.1, 2004.102-106
[39] 朱其新,胡寿松,网络控制系统的随机状态反馈控制,南京航空航天大学学报,Vo l.35, No.6, 2003.372-376
[40] Chan H., Ozguner U., Control of interconnected systems over a communication network with queues. Proceedings of the IEEE CDC, Lake Buena Vista, 1994.4104-4108
[41] Chan H., Ozguner U., Closed-loop control of systems over a communication network with queues. International Journal of Control, 1995, 62(3):493-510
[42] Goktas F., Distributed control of systems over communication networks.Ph.D dissertation. University of Pennsylvania, 2000
[43] 于之训,陈辉堂,王月娟, 基于 H∞ 和μ综合的闭环网络控制系统的设计,同济大学学报,Vol.29, No.3 Mar, 2001
[44] Lee S., Lee S. H., and Kyung Chang Lee, Remote fuzzy logic control for networked control system IEEE IECON'O1, Denver, Colorado, 2001.1822-1827
[45] Mertz J,Werchenmeier F., and Schon T., A combined adaptive/fuzzy network-control and its application within Munich open system architecture. Proceedings of the IEEE ITSCP, Oakland, 2001.45-49
[46] Lee K. C., Lee S., Remote Controller Design of Networked Control System using Genetic Algorithm, Proceedings. ISIE 2001, IEEE International Symposium on Industrial Electronics, June, 2001, Vol.3, 1845-1850
[47] Almutairi N. B., Chow M. Y., PI parameterization using adaptive fuzzy modulation (AFM) for networked control systems-part1: Partial adaptation, IEEE Database, North Carolina State University, USA, 2002. 1352-1357
[48] Almutairi N. B., Chow M. Y., PI pa rameterizationu singa daptive fuzzy modulation (AFM) for networked control systems-part1 1: Full adaptation, IEEE Database, USA, 2002
[49] Hristu D., Morgansen K., Limited communication control. System &control letters, 1999.124
[50] Hristu D. , Stabilization of LTI systems with communicationconstraints, Proceedings of the ACC, Chicago, 2000.2342-2346
[51] Brockett R.W, Stabilization of motor networks. Proceeds of the IEEE CDC, New Orleans, 1995.1484-1488
[52] Rehbinder H., Sanfridson M., Scheduling of a limited communication channel for optimal control. Proceedings of the IEEE 37th CDC, Sydney, Australia, 2000:1011-1016
[53] Nair G.N., Evans R.J., Communication-limited stabilization of linear systems, Proceedings of the IEEE 37 , CDC, Sydney, Australia, 2000.1005-1010
[54] Tatikonda S., Sahai A., and Miter S., Control of LQG systems under communication constraints. Proceedings of IEEE CDC, Tampa, 1998: 1165-1170
[55] Tatikonda S., Sahai A., and Miter S.,Control under Communication Constraints,IEEE Transactions on automatic control, VOL. 49, NO.7, July,2004.1056-1068
[56] Varsakelis D.H., Feedback control systems as users of a shared network: communication sequences that guarantee stability. Proceedings of IEEE CDC, Orlando, Florida, 2001.3631-3636
[57] Hassibi A., Stephen P. Boyd Jonathan P. How Control of Asynchronous Dynamical Systems with Rate Constraints on Events,Proceedings of the IEEE CDC,Phoenx,1999:1345-1350
[58] Gregory C. Walsh, Ye H., Linda G. Bushnell, Stability analysis of networked control systems, IEEE Transactions on Control Systems Technology, 2002,10(3), 438-446
[59] Rabello A., Bhays A., Stability of asynchronous dynamical systems with rate constraints and applications. Proceedings of the ACC, Anchorage, 2002.1284-1289
[60] Yu M.; Wang L., Chu T. G., Hao F., An LMI approach to networked control systems with data packet dropout and transmission delays, Decision and Control, CDC, 43rd IEEE Conference on Volume 4, 14-17 Dec,2004, 3545-3550
[61] Johnson J., Lonn H., and Shin K.G,Non-preemptive scheduling of real-time threads on multi-level-context architectures. Proceedings of the 7th International Workshop on Parallel andDistributed Real-Time Systems, Puerto Rico, 1999
[62] Lonn H., Axelsson J., A comparison of fixed-priority and static cyclic scheduling for distributed automotive control applications. Proceedings, the Eleventh Euromicro Conference on Real-Time Systems (ECRTS '99), York, England, 1999
[63] Hong S.H., Scheduling algorithm of data sampling times in the integrated communication and control systems. IEEE Transactions on Control Systems Technology, 1995, 3(2): 225-230
[64] Ye H., Walsh G.C., and Bushnell L., Wireless local area networks in the manufacturing industry. Proceedings of the ACC, Chicago, Illinois, 2000.2363-2367
[65] Paul G. O., James R. M., Tilbury D., Using deadbands to reduce communication in networked control systems, proceeding of the American Control Conference. Anchorage, 2002.3015-3020
[66] Branicky M.S., Philips S.M., Zhang W., Scheduling and feedback co-design for networked control systems, proceedings of IEEE CDC. Las, Vegas, 2002.10-13
[67] Cervin A., Integrated Control and Real-Time Scheduling, Ph.D Dissertation, Department of Automatic Control Lund Institute of Technology Lund, April 2003
[68] 郭锐峰,分布式实时操作系统中实时通信的研究,小型微型计算机系统,1995,16(2)
[69] 李琨,开放式计算机实时通信工业控制网的研究,昆明理工大学硕士学位论文,1999
[70] 刘怀,胡继峰,控制网络的实时性分析,化工自动化及仪表,2001
[71] Cervin A., Intepated control and real-time scheduling, Department of Automatic Control, Lund Institute of Technology, Sweden, 2003
[72] Branicky M.S., Philips S.M., Zhang W, Scheduling and feedback co-design for networked control systems, Proceeding of IEEE Conference on Decision and Control, Las Vegas, 2002
[73] Walsh G. C., Beldiman B., Asymptotic behavior of networked control systems.In Proceedings of the Conference on Control Applications.1999. 1448-1453
[74] Zhang W., Branicky M.S., Phillips S.M., Stability of networkedcontrol systems, IEEE Control System Magazine, 2001, 2 1(1):84-99
[75] Lian F. L., Analysis, Design, Modeling, and Control of Networked Control of networked control systems,PhD dissertation, University of Michigan, 2001
[76] 魏震,网络控制系统在线时延估计及其控制的综合研究,上海交通大学博士论文,上海,2002
[77] Shakkottai S, Kumar A, Karnik A, Anvekar, TCP performance over end to end rate control and stochastic available capacity, IEEE/IACM Transactions on Networking, 2001.9(4).377-39
[78] Lian F.L., Moyne J., Tilbury D., Analysis and modeling of networked control systems: MIMO case with multiple time delays. Proceeding of the American Control Conference, June, 2001, 4306-4311
[79] 朱 其 新 , 胡 寿 松 , 网 络 控 制 系 统的 分 析 与 建 模 , 信 息 与 与 控 制 ,2003.21(1):5-8
[80] Lian F L,James M., Dawn T., Modeling and optimal controller design of networked control systems with multiple delays international journal of control,2003, 76(6) :591—606
[81] 于之训等,具有传输延迟的网络控制系统中状态观测器的设计,信息与控制,2000
[82] Roh Y.H., Oh J.H., Sliding mode control with delay compensation for uncertain input-delay systems Proce of American Control Conference, San Diego, 1999,309-313
[83]Pan Y , Furuta K . VSS controller design of discrete-time system .Control Theory and Advanced Technology (Part 1),1994,10(4):669-687
[84] 高为炳,变结构控制理论基础,中国科学技术出版社,北京,1990
[85] 娆琼荟,黄继起,吴汉松,变结构控制系统,重庆大学出版社,1997
[86] 俞立,鲁棒控制——线性矩阵不等式处理方法,北京:清华大学出版社,2002
[87] Hale J., Theory of functional differential equations, New York: Springer Verlag, 1977
[88] Xiao L., Hassibi A., and How J.P., Control with random communication delays via a discrete-time jump system approach. Proceeding of the ACC, Chicago, Illinois, 2000,2199-2204
[89] Ekanayake M.M., et al, Stability of discrete-time systems with time-varying delays , Proceeding of the ACC, Arlington, 2001.3914-3919
[90] Ji Y., Chizeck J., Stability and control of discrete-time jump linear systems, Control Theory and Advanced Applications, 1991, 7(2): 447–270
[91] Bharucha A.T., Reid, 马尔可夫过程论初步及其应用,上海科技出版社,1979
[92] Eric W., Weisstein, Markov Chain, from MathWorld--A Wolfram Web Resource, http://mathworld.wolfram.com/MarkovChain.html, 2005 updated
[93] 李漳南、吴荣,随机过程教程,高等教育出版社,1987
[94] Costa L.V. and Fragoso M.D., Stability results for Discrete-Time Systems with Markovian Jumping Parameters.Journal of Mathematical Analysis and Applications 1993,154-178
[95] Graham A., Kronecker products and matrix calculus with applications. Ellis horwood limited, 1981
[96] Ghaoui L.E., Oustry F., AitRami M., Robust state-feedback stabilization of jump linear system, International Journal Robust and Nonlinear Control, 1996
[97] Krtolica R., Ozguner U., Chan H., Goktas H.O., Winkelman J. and Liubakka M., Stability of Linear Feedback Systems with Random Communication delays, Control, 1994, v59, (4):925-953
[98] Velasco M., Marti P., Villa R., Fuertes J. M., and Monroig M., A probabilistic approach to the stability analysis of real-time control systems, in 16th IFAC World Congress, Prague, Czech Republic, 2005
[99] Alefeld G. and Herzberger J., Introduction to Interval Computations, Academic Press, 1983
[100] Pau M. C., Analysis and design of real-time control systems with varying control timing constraints, Ph.D. dissertation, Malardalen University, 2002, 6:89-103
[101] J. Yepez, P. MartI, Fuertes J., Control loop scheduling paradigm in distributed control systems, in 29th Annual Conference of theIEEE Industrial Electronics Society, Nov. 2003.
[102] Dogruel M., Ozguner U.,Stability of a Set of Matrices: A Control Theoretic Approach,Proceedings of the 34th Conference on Decision & Control New Orleans, LA, December, 1995:1324-1330
[103] 宋云霞,大时滞过程控制策略与方法的研究,华南理工大学博士学位论文,广州,2002.5,2
[104] 汤兵勇,路林吉,王文杰.模糊控制理论与应用技术.北京:清华大学出版社,2002,9
[105] Tang K S, Kim F. M., Chen G. R., An optimal fuzzy PID controller, IEEE Trans actions on Industrial Electronics.2001, 48(4):757-765
[106] Tseng C.S., Chen B.S., Multiobjective PID control design in uncertain robotic systems using neural network elimination schem.IEEE Transactions on SMC Part A.2001.31 (6): 632-644
[107] 于善谦,王洪海,朱乃硕等,免疫学导论,北京,高等教育出版社,1999
[108] Dasgupta D, Forrest S. Artificial Immune Systems in Industrial Applications In Proc of the IPMM'99.Honolulu, USA, IEEE,1999,(1):257-267
[109] 谈英姿,沈炯,吕震中,免疫 PID 控制器在汽温控制系统中的应用研究,中国电机工程学报,2002,vol10
[110] 丁永生,任立红, 一种新颖的模糊自调整免疫反馈控制系统,控制与决策,15(4),2000,443-446
[111] Henriksson D., Cervin A.,TrueTime 1.1-Reference Manual, Department of Automatic Control Lund Institute of Technology,2003.03
[112] Ghaoui L.E., Oustry F., AitRami M., A cone complementarity linearization algorithm for static output-feedback and related problems, IEEE Trans. on Automatic Control, Aug 1997. 1171–1176
[113] Yu M., Wang L., Chu T., and Hao F., A lmi approach to networkedcontrol systems with data packet dropout and transmission delays, Journal of Hybrid System, Nov. 2004.
[114] Fridman E. and Shaked U., An improved stabilization method for linear time-delay systems, IEEE Trans.on Automatic Control, Nov. 2002, 47(11)
[115] Moon Y. S., P. Park, Kwon W., Lee Y., Delay-dependent robust stabilization of uncertain state-delayed systems, Int. Journal ofControl, 2001. 1447-1455
[116] 储健,俞立,苏宏业,鲁棒控制理论及应用,杭州,浙江大学出版社,2000 ,4
[117] 邵克勇,景丽,高立群,线性不确定时滞系统的时滞相关 H∞ 控制,东北大学学报 ,2002,11
[2] Goktas, F., Distributed control of systems over communication networks. Ph.D. Dissertation, University of Pennsylvania,2000
[3] Kaplan, G. Ethernet’s winning ways. IEEE Spectrum, 2000, 38(1):113-115
[4] Overstreet, J. W., & Tzes, A., An Internet-based real-time control engineering laboratory, IEEE Control Systems Magazine, 1999, 19(5):19-34
[5] Hong Y., Research on networked control systems, Department of Mechanical Engineering, Phd dissertation, 2000
[6] Tarn, T.J., & Xi, N., Planning and control of internet-based teleoperation, Proceedings of SPIE: Telemanipulator and telepresence technologies, Boston, MA, Vol. 3524, 1998. 189-193
[7] Aundrup T., Lantermann J., and Gruning M. et al, Evaluating and assessing a necessary generation change in network control systems, IEEE, 14th International Conference and Exhibition on Electricity Distribution, 1997.441-445
[8] Xiao Y. S., Su Y. Q., and Yue J.G,Design an analysis of the networked control system of flight simulation platform, In: Proceedings of the 4th World Congress on intelligent Control and Automation, 2002.2775--2777
[9] 孙富春,孙增沂,文献忠,网络控制,2001年中国智能自动化会议论文集(上) 中国昆明,2001.42-50
[10] Hong, S. H., Kim, W.H., Bandwidth allocation scheme in CAN protocol. IEEE Proceedings of Control Theory and Applications, 2000, 147(1): 37-44.
[11] Husein S., and Cooling J.E., Networked control systems plant interfacing issues, In: International Conference on Control, 1991.1187-1192
[12] Raji, R.S., Smart networks for control, 1994, 31(6):49-55
[13] Otanez Paul G., T Jonathan.Parrott,Moyne James R et al. The Implications of Ethernet as a Control Network, Globe Powertrain Conference Ann Arbor,MI,2002
[14] Gadi K., Ethemet’s winning Ways, IEEE Spectrum, January 2001.113-115
[15] Liu, X., Goldsmith, A., Wireless medium access control in networked control systems, American Control Conference, Proceedings of the 2004 Volume 4, July 2004:3605-3610
[16] Hong Y., Wireless Local Area Networks in the Manufacturing Industry. Proceedings the American Control Conference. Chicago,Illinois,2000,(4):2363-2367
[17] Eker J,Cervin A,Horjel A. Distributed Wireless Control Using Bluetooth,IFAC, Conference on New Technologies for Computer Contro1.Hong Kong ,P.R China,2001
[18] Zhang W., Stability Analysis of Networked Control Systems, PhD dissertation, Department of Electrical Engineering and Computer Science, Case Western Reserve University, August 2001
[19] Walsh G. C., H.Ye, and L. Bushnell, Stability analysis of networked control systems in Proceedings of American Control Conference, San Diego, June, 1999. 2876-2880
[20] Montestruque, L.A.,Antsaklis, P.,Stability of model-based networked control systems with time-varying transmission times,Automatic Control, IEEE Transactions on Volume 49, Issue 9, Sept,2004.1562- 1572
[21] Nillsson J,Real- time control systems with delays. PhD thesis, Lund Institute of Technology, Sweden, 1998
[22] Sichitiu M.L., Bauer P.H., Stability of discrete time-variant linear delay systems and applications to network control, proceeding of the IEEE ICECS, September 2001. 985-989
[23] Beldiman O.V., Networked control systems. Department of Electrical and computer Engineering, [Phd Dissertation], Duke University, 2001
[24] 朱其新等,长时滞网络控制系统的随机稳定性研究.东南大学学报(自然科学版),2003, 3,3(3):368-372
[25] 窦连旺, 网络控制系统的建模、稳定性分析及其调度的研究,[博士学位论文],天津,天津大学,2003.12
[26] Luck, R. & Ray, An Observer-based Compensator for Distributed Delays.Automatica, 1990, 26(5): 903-908
[27] Liou, L.W., & Ray, A., Integrated communication and control systems: Part III—nonidentical sensor and controller sampling. Journal of Dynamic Systems, Measurement, and Control, 1990, (112): 357-364
[28] Luck, R., & Ray, A. An observer-based compensator for distributed delays, Automatica, 1990, 26(5):903–908
[29] Luck, R. & Ray, A., Experimental verification of a delay compensation algorithm for integrated communication and control systems , International Journal of Control, 1994,59 (6):1357–1372
[30] Walsh G.C., Beldiman O., and Bushnell L., Asymptotic behavior of networked control systems. IEEE transactions on Automatic Control, 2001, 46(7):1093-1097
[31] Ishii H., Francis B.A., Stabilizing a linear system by switching control with dwell time. IEEE Transactions on Automatic Control, 2002, 47(12): 1962-1973
[32] Beldiman O, Walsh G.C, Predictors for networked control systems, Proceeding of the American Control Conference, Chicago, Illinois, June 2000.2347-2351
[33] Nillsson J., Bemhardsson B., Witenmark B., Stochastic analysis and control of real-time systems with random time delays. Automatics, 1998, 34(1):57-64
[34] Ray A., Output feedback control under randomly varying distributed delays. Journal of Guidance, Control and Dynamics , 1994, 17(4):701-711
[35] 于之训,陈辉堂,王月娟,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
[36] Halevi Y,Ray A,Integrated communication and control systems: Part I-analysis, Journal of Dynamic Systems, Measurement, and Control, 1988, 110(4):367-37
[37] Yang Y.Q., Xu D., Tan M.,Hybrid and stochastic stabilization analysis and H ∞control for networked control systems ,Robotics, Automation and Mechatronics, 2004 IEEE Conference on Volume 1, Dec,2004,502-506
[38] 朱其新,胡寿松,网络控制系统的随机输出反馈控制,应用科学学报,Vol.22, No.1, 2004.102-106
[39] 朱其新,胡寿松,网络控制系统的随机状态反馈控制,南京航空航天大学学报,Vo l.35, No.6, 2003.372-376
[40] Chan H., Ozguner U., Control of interconnected systems over a communication network with queues. Proceedings of the IEEE CDC, Lake Buena Vista, 1994.4104-4108
[41] Chan H., Ozguner U., Closed-loop control of systems over a communication network with queues. International Journal of Control, 1995, 62(3):493-510
[42] Goktas F., Distributed control of systems over communication networks.Ph.D dissertation. University of Pennsylvania, 2000
[43] 于之训,陈辉堂,王月娟, 基于 H∞ 和μ综合的闭环网络控制系统的设计,同济大学学报,Vol.29, No.3 Mar, 2001
[44] Lee S., Lee S. H., and Kyung Chang Lee, Remote fuzzy logic control for networked control system IEEE IECON'O1, Denver, Colorado, 2001.1822-1827
[45] Mertz J,Werchenmeier F., and Schon T., A combined adaptive/fuzzy network-control and its application within Munich open system architecture. Proceedings of the IEEE ITSCP, Oakland, 2001.45-49
[46] Lee K. C., Lee S., Remote Controller Design of Networked Control System using Genetic Algorithm, Proceedings. ISIE 2001, IEEE International Symposium on Industrial Electronics, June, 2001, Vol.3, 1845-1850
[47] Almutairi N. B., Chow M. Y., PI parameterization using adaptive fuzzy modulation (AFM) for networked control systems-part1: Partial adaptation, IEEE Database, North Carolina State University, USA, 2002. 1352-1357
[48] Almutairi N. B., Chow M. Y., PI pa rameterizationu singa daptive fuzzy modulation (AFM) for networked control systems-part1 1: Full adaptation, IEEE Database, USA, 2002
[49] Hristu D., Morgansen K., Limited communication control. System &control letters, 1999.124
[50] Hristu D. , Stabilization of LTI systems with communicationconstraints, Proceedings of the ACC, Chicago, 2000.2342-2346
[51] Brockett R.W, Stabilization of motor networks. Proceeds of the IEEE CDC, New Orleans, 1995.1484-1488
[52] Rehbinder H., Sanfridson M., Scheduling of a limited communication channel for optimal control. Proceedings of the IEEE 37th CDC, Sydney, Australia, 2000:1011-1016
[53] Nair G.N., Evans R.J., Communication-limited stabilization of linear systems, Proceedings of the IEEE 37 , CDC, Sydney, Australia, 2000.1005-1010
[54] Tatikonda S., Sahai A., and Miter S., Control of LQG systems under communication constraints. Proceedings of IEEE CDC, Tampa, 1998: 1165-1170
[55] Tatikonda S., Sahai A., and Miter S.,Control under Communication Constraints,IEEE Transactions on automatic control, VOL. 49, NO.7, July,2004.1056-1068
[56] Varsakelis D.H., Feedback control systems as users of a shared network: communication sequences that guarantee stability. Proceedings of IEEE CDC, Orlando, Florida, 2001.3631-3636
[57] Hassibi A., Stephen P. Boyd Jonathan P. How Control of Asynchronous Dynamical Systems with Rate Constraints on Events,Proceedings of the IEEE CDC,Phoenx,1999:1345-1350
[58] Gregory C. Walsh, Ye H., Linda G. Bushnell, Stability analysis of networked control systems, IEEE Transactions on Control Systems Technology, 2002,10(3), 438-446
[59] Rabello A., Bhays A., Stability of asynchronous dynamical systems with rate constraints and applications. Proceedings of the ACC, Anchorage, 2002.1284-1289
[60] Yu M.; Wang L., Chu T. G., Hao F., An LMI approach to networked control systems with data packet dropout and transmission delays, Decision and Control, CDC, 43rd IEEE Conference on Volume 4, 14-17 Dec,2004, 3545-3550
[61] Johnson J., Lonn H., and Shin K.G,Non-preemptive scheduling of real-time threads on multi-level-context architectures. Proceedings of the 7th International Workshop on Parallel andDistributed Real-Time Systems, Puerto Rico, 1999
[62] Lonn H., Axelsson J., A comparison of fixed-priority and static cyclic scheduling for distributed automotive control applications. Proceedings, the Eleventh Euromicro Conference on Real-Time Systems (ECRTS '99), York, England, 1999
[63] Hong S.H., Scheduling algorithm of data sampling times in the integrated communication and control systems. IEEE Transactions on Control Systems Technology, 1995, 3(2): 225-230
[64] Ye H., Walsh G.C., and Bushnell L., Wireless local area networks in the manufacturing industry. Proceedings of the ACC, Chicago, Illinois, 2000.2363-2367
[65] Paul G. O., James R. M., Tilbury D., Using deadbands to reduce communication in networked control systems, proceeding of the American Control Conference. Anchorage, 2002.3015-3020
[66] Branicky M.S., Philips S.M., Zhang W., Scheduling and feedback co-design for networked control systems, proceedings of IEEE CDC. Las, Vegas, 2002.10-13
[67] Cervin A., Integrated Control and Real-Time Scheduling, Ph.D Dissertation, Department of Automatic Control Lund Institute of Technology Lund, April 2003
[68] 郭锐峰,分布式实时操作系统中实时通信的研究,小型微型计算机系统,1995,16(2)
[69] 李琨,开放式计算机实时通信工业控制网的研究,昆明理工大学硕士学位论文,1999
[70] 刘怀,胡继峰,控制网络的实时性分析,化工自动化及仪表,2001
[71] Cervin A., Intepated control and real-time scheduling, Department of Automatic Control, Lund Institute of Technology, Sweden, 2003
[72] Branicky M.S., Philips S.M., Zhang W, Scheduling and feedback co-design for networked control systems, Proceeding of IEEE Conference on Decision and Control, Las Vegas, 2002
[73] Walsh G. C., Beldiman B., Asymptotic behavior of networked control systems.In Proceedings of the Conference on Control Applications.1999. 1448-1453
[74] Zhang W., Branicky M.S., Phillips S.M., Stability of networkedcontrol systems, IEEE Control System Magazine, 2001, 2 1(1):84-99
[75] Lian F. L., Analysis, Design, Modeling, and Control of Networked Control of networked control systems,PhD dissertation, University of Michigan, 2001
[76] 魏震,网络控制系统在线时延估计及其控制的综合研究,上海交通大学博士论文,上海,2002
[77] Shakkottai S, Kumar A, Karnik A, Anvekar, TCP performance over end to end rate control and stochastic available capacity, IEEE/IACM Transactions on Networking, 2001.9(4).377-39
[78] Lian F.L., Moyne J., Tilbury D., Analysis and modeling of networked control systems: MIMO case with multiple time delays. Proceeding of the American Control Conference, June, 2001, 4306-4311
[79] 朱 其 新 , 胡 寿 松 , 网 络 控 制 系 统的 分 析 与 建 模 , 信 息 与 与 控 制 ,2003.21(1):5-8
[80] Lian F L,James M., Dawn T., Modeling and optimal controller design of networked control systems with multiple delays international journal of control,2003, 76(6) :591—606
[81] 于之训等,具有传输延迟的网络控制系统中状态观测器的设计,信息与控制,2000
[82] Roh Y.H., Oh J.H., Sliding mode control with delay compensation for uncertain input-delay systems Proce of American Control Conference, San Diego, 1999,309-313
[83]Pan Y , Furuta K . VSS controller design of discrete-time system .Control Theory and Advanced Technology (Part 1),1994,10(4):669-687
[84] 高为炳,变结构控制理论基础,中国科学技术出版社,北京,1990
[85] 娆琼荟,黄继起,吴汉松,变结构控制系统,重庆大学出版社,1997
[86] 俞立,鲁棒控制——线性矩阵不等式处理方法,北京:清华大学出版社,2002
[87] Hale J., Theory of functional differential equations, New York: Springer Verlag, 1977
[88] Xiao L., Hassibi A., and How J.P., Control with random communication delays via a discrete-time jump system approach. Proceeding of the ACC, Chicago, Illinois, 2000,2199-2204
[89] Ekanayake M.M., et al, Stability of discrete-time systems with time-varying delays , Proceeding of the ACC, Arlington, 2001.3914-3919
[90] Ji Y., Chizeck J., Stability and control of discrete-time jump linear systems, Control Theory and Advanced Applications, 1991, 7(2): 447–270
[91] Bharucha A.T., Reid, 马尔可夫过程论初步及其应用,上海科技出版社,1979
[92] Eric W., Weisstein, Markov Chain, from MathWorld--A Wolfram Web Resource, http://mathworld.wolfram.com/MarkovChain.html, 2005 updated
[93] 李漳南、吴荣,随机过程教程,高等教育出版社,1987
[94] Costa L.V. and Fragoso M.D., Stability results for Discrete-Time Systems with Markovian Jumping Parameters.Journal of Mathematical Analysis and Applications 1993,154-178
[95] Graham A., Kronecker products and matrix calculus with applications. Ellis horwood limited, 1981
[96] Ghaoui L.E., Oustry F., AitRami M., Robust state-feedback stabilization of jump linear system, International Journal Robust and Nonlinear Control, 1996
[97] Krtolica R., Ozguner U., Chan H., Goktas H.O., Winkelman J. and Liubakka M., Stability of Linear Feedback Systems with Random Communication delays, Control, 1994, v59, (4):925-953
[98] Velasco M., Marti P., Villa R., Fuertes J. M., and Monroig M., A probabilistic approach to the stability analysis of real-time control systems, in 16th IFAC World Congress, Prague, Czech Republic, 2005
[99] Alefeld G. and Herzberger J., Introduction to Interval Computations, Academic Press, 1983
[100] Pau M. C., Analysis and design of real-time control systems with varying control timing constraints, Ph.D. dissertation, Malardalen University, 2002, 6:89-103
[101] J. Yepez, P. MartI, Fuertes J., Control loop scheduling paradigm in distributed control systems, in 29th Annual Conference of theIEEE Industrial Electronics Society, Nov. 2003.
[102] Dogruel M., Ozguner U.,Stability of a Set of Matrices: A Control Theoretic Approach,Proceedings of the 34th Conference on Decision & Control New Orleans, LA, December, 1995:1324-1330
[103] 宋云霞,大时滞过程控制策略与方法的研究,华南理工大学博士学位论文,广州,2002.5,2
[104] 汤兵勇,路林吉,王文杰.模糊控制理论与应用技术.北京:清华大学出版社,2002,9
[105] Tang K S, Kim F. M., Chen G. R., An optimal fuzzy PID controller, IEEE Trans actions on Industrial Electronics.2001, 48(4):757-765
[106] Tseng C.S., Chen B.S., Multiobjective PID control design in uncertain robotic systems using neural network elimination schem.IEEE Transactions on SMC Part A.2001.31 (6): 632-644
[107] 于善谦,王洪海,朱乃硕等,免疫学导论,北京,高等教育出版社,1999
[108] Dasgupta D, Forrest S. Artificial Immune Systems in Industrial Applications In Proc of the IPMM'99.Honolulu, USA, IEEE,1999,(1):257-267
[109] 谈英姿,沈炯,吕震中,免疫 PID 控制器在汽温控制系统中的应用研究,中国电机工程学报,2002,vol10
[110] 丁永生,任立红, 一种新颖的模糊自调整免疫反馈控制系统,控制与决策,15(4),2000,443-446
[111] Henriksson D., Cervin A.,TrueTime 1.1-Reference Manual, Department of Automatic Control Lund Institute of Technology,2003.03
[112] Ghaoui L.E., Oustry F., AitRami M., A cone complementarity linearization algorithm for static output-feedback and related problems, IEEE Trans. on Automatic Control, Aug 1997. 1171–1176
[113] Yu M., Wang L., Chu T., and Hao F., A lmi approach to networkedcontrol systems with data packet dropout and transmission delays, Journal of Hybrid System, Nov. 2004.
[114] Fridman E. and Shaked U., An improved stabilization method for linear time-delay systems, IEEE Trans.on Automatic Control, Nov. 2002, 47(11)
[115] Moon Y. S., P. Park, Kwon W., Lee Y., Delay-dependent robust stabilization of uncertain state-delayed systems, Int. Journal ofControl, 2001. 1447-1455
[116] 储健,俞立,苏宏业,鲁棒控制理论及应用,杭州,浙江大学出版社,2000 ,4
[117] 邵克勇,景丽,高立群,线性不确定时滞系统的时滞相关 H∞ 控制,东北大学学报 ,2002,11