Packet-based Control with Norm Bounded Uncertainties
| Prev: Packet-based Control: UDP Case | Course Home | Next: Estimation Over Wireless Links |
In this lecture, we study the main issues with a packet-based control system and explore the frequently used models for such systems. In particular, we study the effect of packet drops and finite data rate on the system stability. We shall show that there are tradeoffs between packet drop rate, network data rate and system uncertainty levels for the closed loop system.
Lecture Materials
Reading
Networked Control Systems with Norm Bounded Uncertainties: A Stability Analysis, Ling Shi, Michael Epstein and Richard M.Murray. The first half of the lecture is based on this paper.
Towards Robust Control Over a Packet Dropping Network, Ling Shi, Michael Epstein and Richard M.Murray. The second half of the lecture is based on this paper.
Additional Resources
Almost Sure in Probability Theory. This is a pretty good introduction to the notion of "Almost Surely" from wikipedia.
In case you want to explore more besides these two papers, you can find related papers through our references. And you are welcome to talk to either me or Michael for possible project ideas.
