延时网络控制系统的滑模控制
|
摘要
本文的主要内容为带有传输延时的网络控制系统的控制策略研究。网络控制系统(Net、Vorked Connrol Systems)是通过实时的网络构成闭环的反馈控制系统，是一种完全分布式、网络化实时控制系统。网络控制系统是20世纪90年代兴起的控制理论发展中的新课题。从结构上看网络控制系统的特点是各控制装置(如传感器、控制器和执行器)直接作为网络接口和通信网络相连，从而提高了设备之间的数据传输速度，使不同地点的用户实现资源共享和协调操作。网络控制系统广泛应用于自动化制造工厂、电厂、机器人、高级航天航空器和电气化运输工具。这种网络化的控制模式具有信息资源共享、减少连线、易于扩展、易于维护、高效灵活、可靠性高等优点。但由于网络中的信息源很多，信息的传送要分时占用网络通信线路，而网络的承载能力和通信带宽有限，必然造成信息的碰撞、重传等现象的发生，使得信息在传输过程中不可避免地存在延时。因此，就网络控制系统中的传输延时控制策略的研究显得尤为重要。
在本论文中，对网络控制系统中的传输延时问题，采用基于预报器的滑模控制方法，补偿了系统在滑模面上的延时，并针对不同拓扑结构的网络控制系统，根据Lyapunov稳定性定理和相应的合理假设分别得到了简单的鲁棒滑模控制器。在保证系统稳定运行的基础上，使系统具有较强的鲁棒性。首先，介绍了网络控制系统的概念和网络控制系统理论的发展概况、研究内容及现状；其次，对不同拓扑结构的网络控制系统的延时进行分析并引入了相应的系统模型：在此基础上，针对网络传输产生的控制器到执行器的延时问题，对不确定输入延时系统提出了一种补偿策略，设计了滑模控制器，使系统具有强鲁棒性。仿真示例验证了这一控制策略的有效性；同时，就网络传输产生的传感器到控制器延时及控制器到执行器的延时问题，对一类特殊的不确定状态延时和控制延时系统给出了基于预报器的滑模控制方法，得到了保证系统全局稳定的最大传输延时，并设计了基于状态反馈的滑模面，通过仿真结果说明了设计及控制方法的可行性和有效性。全文的最后展望了网络控制系统理论的发展前景以及作者在以后的工作中需要学习和努力的方向。
The content of this thesis is on studying the control scheme for some kinds of networked control systems with network induced time delay. Networked control systems are feedback control systems wherein the control loops are closed through a real-time network. Networked Control System is a new task of control theory in the 1990s. It has a completely distributed structure where all the control applications (eg. Sensors, controllers and actuators) are connected to the communication network directly. The structure develops data transmitting velocity, makes all users in different places share the resource and co-operation. Networked control systems can be found in industrial automation, building automation, power plant, robot, intelligent vehicle systems, advanced aircraft and spacecraft. This kind of networked control mode has many advantages, such as sharing information resource, simple and fast actuation, small volume of wiring, powerful configuration, powerful system diagnosis and maintenance. However, when th
e distributed applications implement over the control network, it is necessary to make the information collide and re-transmit because of information transmitted through the limited bandwidth and weight capability. There must be transmitting time delays. So it is important to study the control scheme for the networked control systems with transmitting time delays.
In this thesis, a method of sliding mode control based on predictors for the network-induced time delay in network control systems is used to compensate the time delay on the sliding mode surface. According to the networked control systems with different structure, robust sliding mode controllers based on Lyapunov stability theory and rational assumptions are obtained. It not only guarantees systems stability but also systems robustness. Firstly, the conception of networked control systems, introduction and content of networked control systems theory are introduced. Secondly, the network induced time delays of different topology structure are analyzed and then the corresponding plants are modeled. Based on the above, a compensation scheme for the transmitting time delay from controller to actuator is developed. And also a sliding mode controller that makes the system robust is designed. Simulation
example explains the validity of this control scheme. Moreover, a method of sliding mode control based on a predictor for a class special system with state time delay and control time delay is explored, and the maximum transmitting time delay ensuring system global stability is presented. And a sliding surface based state feedback is designed. Simulation example specifies the feasibility and validity of this control scheme. Finally, the development of networked control systems theory and what it is to study for the author in the future is prospected.
在本论文中，对网络控制系统中的传输延时问题，采用基于预报器的滑模控制方法，补偿了系统在滑模面上的延时，并针对不同拓扑结构的网络控制系统，根据Lyapunov稳定性定理和相应的合理假设分别得到了简单的鲁棒滑模控制器。在保证系统稳定运行的基础上，使系统具有较强的鲁棒性。首先，介绍了网络控制系统的概念和网络控制系统理论的发展概况、研究内容及现状；其次，对不同拓扑结构的网络控制系统的延时进行分析并引入了相应的系统模型：在此基础上，针对网络传输产生的控制器到执行器的延时问题，对不确定输入延时系统提出了一种补偿策略，设计了滑模控制器，使系统具有强鲁棒性。仿真示例验证了这一控制策略的有效性；同时，就网络传输产生的传感器到控制器延时及控制器到执行器的延时问题，对一类特殊的不确定状态延时和控制延时系统给出了基于预报器的滑模控制方法，得到了保证系统全局稳定的最大传输延时，并设计了基于状态反馈的滑模面，通过仿真结果说明了设计及控制方法的可行性和有效性。全文的最后展望了网络控制系统理论的发展前景以及作者在以后的工作中需要学习和努力的方向。
The content of this thesis is on studying the control scheme for some kinds of networked control systems with network induced time delay. Networked control systems are feedback control systems wherein the control loops are closed through a real-time network. Networked Control System is a new task of control theory in the 1990s. It has a completely distributed structure where all the control applications (eg. Sensors, controllers and actuators) are connected to the communication network directly. The structure develops data transmitting velocity, makes all users in different places share the resource and co-operation. Networked control systems can be found in industrial automation, building automation, power plant, robot, intelligent vehicle systems, advanced aircraft and spacecraft. This kind of networked control mode has many advantages, such as sharing information resource, simple and fast actuation, small volume of wiring, powerful configuration, powerful system diagnosis and maintenance. However, when th
e distributed applications implement over the control network, it is necessary to make the information collide and re-transmit because of information transmitted through the limited bandwidth and weight capability. There must be transmitting time delays. So it is important to study the control scheme for the networked control systems with transmitting time delays.
In this thesis, a method of sliding mode control based on predictors for the network-induced time delay in network control systems is used to compensate the time delay on the sliding mode surface. According to the networked control systems with different structure, robust sliding mode controllers based on Lyapunov stability theory and rational assumptions are obtained. It not only guarantees systems stability but also systems robustness. Firstly, the conception of networked control systems, introduction and content of networked control systems theory are introduced. Secondly, the network induced time delays of different topology structure are analyzed and then the corresponding plants are modeled. Based on the above, a compensation scheme for the transmitting time delay from controller to actuator is developed. And also a sliding mode controller that makes the system robust is designed. Simulation
example explains the validity of this control scheme. Moreover, a method of sliding mode control based on a predictor for a class special system with state time delay and control time delay is explored, and the maximum transmitting time delay ensuring system global stability is presented. And a sliding surface based state feedback is designed. Simulation example specifies the feasibility and validity of this control scheme. Finally, the development of networked control systems theory and what it is to study for the author in the future is prospected.
引文
[1] Y. Halevi and A. Ray, Integrated communication and control system: Part I-Analysis, in J. Dynamic System, Measurement, and Control, 110: 367-373,December 1988.
[2] J. Nilsson, Real-Time Control Systems with Delays. Ph.D. dissertation, Dept. of Automatic Control. Lund Institute of Technology, Lund, Sweden, 1998.
[3] G. C. Walsh, H. Ye, and L. Bushnell. Stability analysis of networked control systems, in Proc. Amer. Control Conf., pp. 2876-2880, San Diego, June 1999.
[4] M. S. Branicky, S. M. Philips, and W. Zhang.Stability of networked control systems: Explicit analysis of delay, in Proc. Amer. Control Conf. Chicago. IL, June 2000. pp. 2352-2357.
[5] 黎善斌，王智，张卫东，孙优贤．网络控制系统的研究现状与展望．信息与控制．2003，32(3)：239-244．
[6] K. J. Astrom and B. Wittenmark, Computer-Controlled Systems: Theory and Design, 3rd ed. Englewood Cliffs. N J: Prentice-Hall, 1997.
[7] 朱其新，胡寿松，侯霞．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)．2003，33(3)：368-371．
[8] 樊卫华，蔡骅，陈庆伟，胡维礼．基于异步动态系统的网络控制系统建模．东南大学学报(自然科学版)．2003，33(2)：194-196．
[9] 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．
[10] S. S. Wang, B. S. Chen and T. P. Lin, Robust stability of uncertain time-delay systems. Int. J. Contr., vol. 46, pp. 963-976, 1987.
[11] S. I. Niculescu, C. E. de Souza, J. M. Dion, and L. Dugard, Robust stability and stabilization of uncertain linear systems with state delay: Single delay case (i). in Proc. IFAC Syrup. Robust Control Design, Riode Janeiro. Brazil, Sept.1994, pp. 469-474.
[12] J. H. Su. Further result on the stability of linear systems with a single time delay. Syst. Contr. Lett. vol. 23, pp. 357-379, 1994.
[13] S. I. Niculescu, A. T. Neto, J. M. Dion and L. Duguard. Delay-dependent stability of linear systems with delayed state: An LMI approach, in Proc. 34th Conf. Decision and Control, New Orleans, LA, Dec. 1995, vol. 2, pp. 1495-1496.
[14] X. Li and C. E. de Souza. Criteria for robust stability of uncertain linear systems with time- varying state delays in IFAC: 13th World Congr. San Franisco CA 1996, vol. 1 pp. 37-142.
[15] 于之训，蒋平，陈辉堂，周刚．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．2000，29(2)：125-130．
[16] F. L. Lian, James R. M, Dawn M. T. Performance Evaluation of Control Networks. IEEE Control Systems Magazine, 2001, (2): 66-83.
[17] W. Zhang, Michael S. Branicky, and Stephen M. Philips. Stability of Networked Control Systems. IEEE Control Systems Magazine, 2001, (2): 84-99.
[18] 朱其新，胡寿松．网络控制系统的分析与建模．信息与控制．2003，32(1)：5-8．
[19] F. -L. lian, J. R. Moyne, and d. M. Tilbury. Network Design Consideration for Distributed Control Systems. IEEE Trans. Contr. Sys. Tech., vol. 10, No. 2, March 2002.
[20] Luck Rogelio, Ray Asok. An observer based compensator for distributed delays[J]. Automatica, vol. 26, pp. 903-908, May. 1990.
[21] Y. H. Roh and J. H. Oh. Sliding mode control with delay compensation for uncertain input-delay systems. Proc. ofA. C. C, San Diego, 309-313, 1999.
[22] 于之训，陈辉堂，王月娟．闭环网络控制系统研究综述．信息与控制．2001，30(7)：689-695．
[23] P. G. Jiang, H. Y. Su and J. Chu. Delay Dependent Robust Stabilization Methods for Linear Uncertain Time-delay Systems. Control and Decision, China, vol. 14, No. 2, Mar. 1999.
[24] 王征，谈大龙，王向东．网络控制系统稳定性研究．控制与决策．2002，17(10)：802-804．
[25] J. K. Hale and S. M. Verduyn Luunell. Introduction to functional differetial equations (Springger-Verlag). 1993.
[26] H. S. Park, Y. H. Kim, D. S. Kim and W. H. Kwon. A Scheduling Method for Network- Based Control Systems. IEEE Transactions on Control Systems Technology. 2002. 10(3): 318-330.
[27] G. Walsh, O. Beldiman and L. Bushnell. Asymptotic Behavior of Networked Control Systems. Proceedings of the International Conference on Control Applications. August 1999.
[28] O. Beldiman, L. Bushnell, G. Walsh, H. O. Wang and Y. Hong. Perturbation in Networked Control Systems. Proceedings of ASME-IMECE. November 2001.
[29] 高为炳．变结构控制的理论及设计方法．科学出版社．1998．
[30] 谢希仁．计算机网络(第二版)．电子工业出版社．
[31] 胡中骥等．时滞系统的状态反馈和基于观测器的输出反馈设计．自动化学报．vol．26， No ．2，2002．3．
[32] 于之训，陈辉堂，王月娟．时延网络控制系统均方指数稳定的研究[J]．控制与决策．2000，15(3)：278-281．
[33] Rogelio L, A. Ray. An observer-based compensator for distributed delays[J]. Autumatica, 1990, 26(5): 903-908.
[34] Ray A. Output feedback control under randomly varying distributed delays[J]. J of Dyn. Syst, Meas&Contr, 1994, 17(4): 701-711.
[35] 朱其新，胡寿松，吴建国．网络控制系统的等价离散最优性能指标问题．华北电力大学学报．2003，30(2)：41-44．
[36] 苑明哲，于海斌，周悦．并行计算在网络化控制中的机遇与挑战．信息与控制．2003， 32(2)：97-101．
[37] 张胜，刘红星，高敦堂，沈振宇，业苏宁．ANN非线性时间序列预测模型输入延时τ确定．东南大学学报(自然科学版)．2002，32(6)：905-908．
[38] 魏震，马向华，谢剑英．网络控制系统中在线时延评估方法及其控制．上海交通大学学报．2003，37(4)：574-577．
[39] H. Lin, Guisheng. Z, Panos J. A. Robust stability and disturbance attenuation analysis of a class of networked control systems. IEEE conference on decision and control. Hawaii, USA, Dec. 2003.
[40] Q. Lin, Michael. D. Lemmon, Optimal dropout compensation in networked control systems. IEEE conference on decision and control. Hawaii, USA, Dec. 2003.
[41] H. Arash, B. Stephen P, H. Jonathan P. Control of synchronous dynamical systems with rate constraints on events [A]. IEEE conference decision and control [C]. Phoenix .A Z., 1999. 1345-1351.
[42] Y. Halevi and A. Ray, Integrated communication and control system: Part Ⅱ-Design considerations [J]. ASME Journal of Dynamic Systems, Measurement, and Control, 1988, 110(4): 374-381.
[43] Luck R, Ray A. An observer based compensator for distributed delays [J]. Automatica, 1990,26(5):903-908.
[44] A. Ray, Y. Halevi. Finite dimensional modeling of network induced delays for real time control systems [A]. American Control Conference [C]. 1988.
[45] B. Wittenmark, B. Bastian and J. Nilsson Analysis of time delays in synchronous and asynchronous control loops. 37th CDC, Tampa, Dec. 1998.
[46] W. Zhang, Stability analysis of networked control systems. Ph. D. Thesis, Electrical engineering and computer science, Case Western Reserve U. May 2001. http://dora. cwru.edu/msb/pubs/wxzPHD, pdf.
[47] M. S. Branicky, S. M. Phillips and W. Zhang. Scheduling and feedback co-design for networked control systems. American control conference. Denver. Colorado. June. 2003.
[48] S. H. Hong, Scheduling algorithm of data sampling times in the integrated communication and control systems, IEEE Trans. Contr. Syst. Technol., vol. 3, pp. 225-231, June 1995.
[49] H. S. Park, Y. H. Kim, D-S. Kim and W. H. Kwon. A scheduling method for network- based control systems. IEEE Trans. Contr. Syst. Technol. vol. 3, pp .318-330, May 2002.
[50] Engin Yaz. Control of Randomly Varying Systems with Prescribed Degree of Stability. IEEE Transactions on Automatic Control, 1988, 33(4): 407-410.
[51] Ray L. W., Liou J. H. Shen. State Estimation Using Randomly Delayed Measurements. Journal of Dynamic Systems, Measurement and Control, 1993, 115(1): 19-26.
[52] Luen-Woei Liou, Asok Ray. A Stochastic Regulator for Integrated Communication And Control Systems: Part I-Formulation of Control Law. Joumal of Dynamic Systems Measurement, and Control, 1991, 113:604-611.
[53] Luen-Woei Liou, Asok Ray. A Stochastic Regulator for Integrated Communication And Control Systems: Part Ⅱ-Numerical Analysis and Simulation. Journal of Dynamic Systems Measurement, and Control, 1991, 113: 612-617.
[54] Chan Hand Uzguner. Closed-loop Control of Systems over A Communication Network with Queues. International Journal of Control, 1995, 62(3): 493-510.
[55] O.Sename, D. Simon and D. Robert, Feedback scheduling for real-time control of systems with communication delays, in Proceedings of the IEEE International Conference on Emerging Technologies and Factory Automation, Lisbonne, September 2003.
[56] Lin Xiao, A. Hassibi, Jonathan P. How. Control with random communication delays via a discrete-time jump system approach, www.stanford.edu/～lxiao/papers/randjump.pdf
[57] Drazenovic B. The invariance conditions in variable structure systems. Automatica. 5(2). 287-295.
[58] Petersen I. R. Structural stabilization of uncertain systems: necessity of the matching condition. SIAM J. Control and Optimization. 23(2): 286-296.
[59] Oucheriah S. Dynamic compensation of uncertain time delay system using variable structure approach. IEEE transactions on circuits and systems I: Fundamental Theory and Applications. 42(8): 466-470.
[60] Goualsbaut F., Perruquetti W. and Richard J. P. A sliding mode control for linear systems with input and state delays. Proceedings of the 38th IEEE Conference on Decision and Control, 1999. pp, 4234-4239.
[61] Jafarov E. M. Design of sliding mode control for multi-input systems with multiple state delays. ACC 2000, pp. 1139-1143.
[62] 顾洪军等．网络控制系统的机理描述模型．控制与决策．Vol．15，No．5，2000．
[63] 彭可等，控制系统网络化及控制系统与信息网络集成技术．信息与控制．Vol．31， No．5，Oct．，2002．
[64] 邵克勇，不确定系统的稳定性及控制问题的研究．东北大学博士学位论文．2003．8．
[65] P. Raja and G. Ulloa, priority polling and dynamic time-window mechanisms in a multicycle fieldbus, in Proc. Compeuro, 1993, pp. 452-460.
[66] Yoshiki, Y. Yamashita, H. Nishitani, Compensation for transmission delay in remote-control system unader measurement noise. Nara institute of science and technology, Japan. to appear.
[67] 顾洪军，张佐，吴秋峰．网络控制系统的实时特性分析与数据传输技术．计算机工程与应用．2001．6．
[2] J. Nilsson, Real-Time Control Systems with Delays. Ph.D. dissertation, Dept. of Automatic Control. Lund Institute of Technology, Lund, Sweden, 1998.
[3] G. C. Walsh, H. Ye, and L. Bushnell. Stability analysis of networked control systems, in Proc. Amer. Control Conf., pp. 2876-2880, San Diego, June 1999.
[4] M. S. Branicky, S. M. Philips, and W. Zhang.Stability of networked control systems: Explicit analysis of delay, in Proc. Amer. Control Conf. Chicago. IL, June 2000. pp. 2352-2357.
[5] 黎善斌，王智，张卫东，孙优贤．网络控制系统的研究现状与展望．信息与控制．2003，32(3)：239-244．
[6] K. J. Astrom and B. Wittenmark, Computer-Controlled Systems: Theory and Design, 3rd ed. Englewood Cliffs. N J: Prentice-Hall, 1997.
[7] 朱其新，胡寿松，侯霞．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)．2003，33(3)：368-371．
[8] 樊卫华，蔡骅，陈庆伟，胡维礼．基于异步动态系统的网络控制系统建模．东南大学学报(自然科学版)．2003，33(2)：194-196．
[9] 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．
[10] S. S. Wang, B. S. Chen and T. P. Lin, Robust stability of uncertain time-delay systems. Int. J. Contr., vol. 46, pp. 963-976, 1987.
[11] S. I. Niculescu, C. E. de Souza, J. M. Dion, and L. Dugard, Robust stability and stabilization of uncertain linear systems with state delay: Single delay case (i). in Proc. IFAC Syrup. Robust Control Design, Riode Janeiro. Brazil, Sept.1994, pp. 469-474.
[12] J. H. Su. Further result on the stability of linear systems with a single time delay. Syst. Contr. Lett. vol. 23, pp. 357-379, 1994.
[13] S. I. Niculescu, A. T. Neto, J. M. Dion and L. Duguard. Delay-dependent stability of linear systems with delayed state: An LMI approach, in Proc. 34th Conf. Decision and Control, New Orleans, LA, Dec. 1995, vol. 2, pp. 1495-1496.
[14] X. Li and C. E. de Souza. Criteria for robust stability of uncertain linear systems with time- varying state delays in IFAC: 13th World Congr. San Franisco CA 1996, vol. 1 pp. 37-142.
[15] 于之训，蒋平，陈辉堂，周刚．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．2000，29(2)：125-130．
[16] F. L. Lian, James R. M, Dawn M. T. Performance Evaluation of Control Networks. IEEE Control Systems Magazine, 2001, (2): 66-83.
[17] W. Zhang, Michael S. Branicky, and Stephen M. Philips. Stability of Networked Control Systems. IEEE Control Systems Magazine, 2001, (2): 84-99.
[18] 朱其新，胡寿松．网络控制系统的分析与建模．信息与控制．2003，32(1)：5-8．
[19] F. -L. lian, J. R. Moyne, and d. M. Tilbury. Network Design Consideration for Distributed Control Systems. IEEE Trans. Contr. Sys. Tech., vol. 10, No. 2, March 2002.
[20] Luck Rogelio, Ray Asok. An observer based compensator for distributed delays[J]. Automatica, vol. 26, pp. 903-908, May. 1990.
[21] Y. H. Roh and J. H. Oh. Sliding mode control with delay compensation for uncertain input-delay systems. Proc. ofA. C. C, San Diego, 309-313, 1999.
[22] 于之训，陈辉堂，王月娟．闭环网络控制系统研究综述．信息与控制．2001，30(7)：689-695．
[23] P. G. Jiang, H. Y. Su and J. Chu. Delay Dependent Robust Stabilization Methods for Linear Uncertain Time-delay Systems. Control and Decision, China, vol. 14, No. 2, Mar. 1999.
[24] 王征，谈大龙，王向东．网络控制系统稳定性研究．控制与决策．2002，17(10)：802-804．
[25] J. K. Hale and S. M. Verduyn Luunell. Introduction to functional differetial equations (Springger-Verlag). 1993.
[26] H. S. Park, Y. H. Kim, D. S. Kim and W. H. Kwon. A Scheduling Method for Network- Based Control Systems. IEEE Transactions on Control Systems Technology. 2002. 10(3): 318-330.
[27] G. Walsh, O. Beldiman and L. Bushnell. Asymptotic Behavior of Networked Control Systems. Proceedings of the International Conference on Control Applications. August 1999.
[28] O. Beldiman, L. Bushnell, G. Walsh, H. O. Wang and Y. Hong. Perturbation in Networked Control Systems. Proceedings of ASME-IMECE. November 2001.
[29] 高为炳．变结构控制的理论及设计方法．科学出版社．1998．
[30] 谢希仁．计算机网络(第二版)．电子工业出版社．
[31] 胡中骥等．时滞系统的状态反馈和基于观测器的输出反馈设计．自动化学报．vol．26， No ．2，2002．3．
[32] 于之训，陈辉堂，王月娟．时延网络控制系统均方指数稳定的研究[J]．控制与决策．2000，15(3)：278-281．
[33] Rogelio L, A. Ray. An observer-based compensator for distributed delays[J]. Autumatica, 1990, 26(5): 903-908.
[34] Ray A. Output feedback control under randomly varying distributed delays[J]. J of Dyn. Syst, Meas&Contr, 1994, 17(4): 701-711.
[35] 朱其新，胡寿松，吴建国．网络控制系统的等价离散最优性能指标问题．华北电力大学学报．2003，30(2)：41-44．
[36] 苑明哲，于海斌，周悦．并行计算在网络化控制中的机遇与挑战．信息与控制．2003， 32(2)：97-101．
[37] 张胜，刘红星，高敦堂，沈振宇，业苏宁．ANN非线性时间序列预测模型输入延时τ确定．东南大学学报(自然科学版)．2002，32(6)：905-908．
[38] 魏震，马向华，谢剑英．网络控制系统中在线时延评估方法及其控制．上海交通大学学报．2003，37(4)：574-577．
[39] H. Lin, Guisheng. Z, Panos J. A. Robust stability and disturbance attenuation analysis of a class of networked control systems. IEEE conference on decision and control. Hawaii, USA, Dec. 2003.
[40] Q. Lin, Michael. D. Lemmon, Optimal dropout compensation in networked control systems. IEEE conference on decision and control. Hawaii, USA, Dec. 2003.
[41] H. Arash, B. Stephen P, H. Jonathan P. Control of synchronous dynamical systems with rate constraints on events [A]. IEEE conference decision and control [C]. Phoenix .A Z., 1999. 1345-1351.
[42] Y. Halevi and A. Ray, Integrated communication and control system: Part Ⅱ-Design considerations [J]. ASME Journal of Dynamic Systems, Measurement, and Control, 1988, 110(4): 374-381.
[43] Luck R, Ray A. An observer based compensator for distributed delays [J]. Automatica, 1990,26(5):903-908.
[44] A. Ray, Y. Halevi. Finite dimensional modeling of network induced delays for real time control systems [A]. American Control Conference [C]. 1988.
[45] B. Wittenmark, B. Bastian and J. Nilsson Analysis of time delays in synchronous and asynchronous control loops. 37th CDC, Tampa, Dec. 1998.
[46] W. Zhang, Stability analysis of networked control systems. Ph. D. Thesis, Electrical engineering and computer science, Case Western Reserve U. May 2001. http://dora. cwru.edu/msb/pubs/wxzPHD, pdf.
[47] M. S. Branicky, S. M. Phillips and W. Zhang. Scheduling and feedback co-design for networked control systems. American control conference. Denver. Colorado. June. 2003.
[48] S. H. Hong, Scheduling algorithm of data sampling times in the integrated communication and control systems, IEEE Trans. Contr. Syst. Technol., vol. 3, pp. 225-231, June 1995.
[49] H. S. Park, Y. H. Kim, D-S. Kim and W. H. Kwon. A scheduling method for network- based control systems. IEEE Trans. Contr. Syst. Technol. vol. 3, pp .318-330, May 2002.
[50] Engin Yaz. Control of Randomly Varying Systems with Prescribed Degree of Stability. IEEE Transactions on Automatic Control, 1988, 33(4): 407-410.
[51] Ray L. W., Liou J. H. Shen. State Estimation Using Randomly Delayed Measurements. Journal of Dynamic Systems, Measurement and Control, 1993, 115(1): 19-26.
[52] Luen-Woei Liou, Asok Ray. A Stochastic Regulator for Integrated Communication And Control Systems: Part I-Formulation of Control Law. Joumal of Dynamic Systems Measurement, and Control, 1991, 113:604-611.
[53] Luen-Woei Liou, Asok Ray. A Stochastic Regulator for Integrated Communication And Control Systems: Part Ⅱ-Numerical Analysis and Simulation. Journal of Dynamic Systems Measurement, and Control, 1991, 113: 612-617.
[54] Chan Hand Uzguner. Closed-loop Control of Systems over A Communication Network with Queues. International Journal of Control, 1995, 62(3): 493-510.
[55] O.Sename, D. Simon and D. Robert, Feedback scheduling for real-time control of systems with communication delays, in Proceedings of the IEEE International Conference on Emerging Technologies and Factory Automation, Lisbonne, September 2003.
[56] Lin Xiao, A. Hassibi, Jonathan P. How. Control with random communication delays via a discrete-time jump system approach, www.stanford.edu/～lxiao/papers/randjump.pdf
[57] Drazenovic B. The invariance conditions in variable structure systems. Automatica. 5(2). 287-295.
[58] Petersen I. R. Structural stabilization of uncertain systems: necessity of the matching condition. SIAM J. Control and Optimization. 23(2): 286-296.
[59] Oucheriah S. Dynamic compensation of uncertain time delay system using variable structure approach. IEEE transactions on circuits and systems I: Fundamental Theory and Applications. 42(8): 466-470.
[60] Goualsbaut F., Perruquetti W. and Richard J. P. A sliding mode control for linear systems with input and state delays. Proceedings of the 38th IEEE Conference on Decision and Control, 1999. pp, 4234-4239.
[61] Jafarov E. M. Design of sliding mode control for multi-input systems with multiple state delays. ACC 2000, pp. 1139-1143.
[62] 顾洪军等．网络控制系统的机理描述模型．控制与决策．Vol．15，No．5，2000．
[63] 彭可等，控制系统网络化及控制系统与信息网络集成技术．信息与控制．Vol．31， No．5，Oct．，2002．
[64] 邵克勇，不确定系统的稳定性及控制问题的研究．东北大学博士学位论文．2003．8．
[65] P. Raja and G. Ulloa, priority polling and dynamic time-window mechanisms in a multicycle fieldbus, in Proc. Compeuro, 1993, pp. 452-460.
[66] Yoshiki, Y. Yamashita, H. Nishitani, Compensation for transmission delay in remote-control system unader measurement noise. Nara institute of science and technology, Japan. to appear.
[67] 顾洪军，张佐，吴秋峰．网络控制系统的实时特性分析与数据传输技术．计算机工程与应用．2001．6．