Robust Control over a Packet-Based Network

Ling Shi, Michael Epstein, Richard M. Murray
Submitted, 2006 American Control Conference

In this paper, we consider a robust network control problem. We consider linear unstable and uncertain discrete time plants with a network between the sensors and controller and the controller and plant. We investigate two defining characteristics of network controlled systems and the impact of uncertainty on these. Namely, the minimum data rates required for the two networks and the tolerable data drop out in the form of packet losses. We are able to derive sufficient conditions in terms of the minimum data rate and minimum packet arrival rate to ensure stability of the closed loop system.

• Conference Paper: http://www.cds.caltech.edu/~murray/preprints/sem06-acc.pdf
• Project(s): Template:HTDB funding::AFOSR/coop