# Difference between revisions of "Packet-based Control with Norm Bounded Uncertainties"

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<!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --> | <!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up --> | ||

In this lecture, we | 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 == | == Lecture Materials == | ||

<!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --> | <!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --> | ||

<!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --> | <!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --> | ||

* [[Media:270_2 Lecture_Ling.pdf |Lecture: Packet-based Estimation II ]] | * [[Media:270_2 Lecture_Ling.pdf |Lecture: Packet-based Estimation and Control II ]] | ||

== Reading == | == Reading == | ||

* <p>[http:// | * <p>[http://www.cds.caltech.edu/~shiling/acc06final.pdf 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.</p> | ||

* <p>[http:// | * <p>[http://www.cds.caltech.edu/~shiling/mtns06.pdf 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.</p> | ||

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== Additional Resources == | == Additional Resources == | ||

* <p>[http:// | * <p>[http://en.wikipedia.org/wiki/Almost_surely Almost Sure in Probability Theory]. This is a pretty good introduction to the notion of "Almost Surely" from wikipedia.</p> | ||

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. | |||

<!-- Links to additional information. If there are good sources of additional information for students interested in exploring this topic further, these should go at the bottom of the page. --> | <!-- Links to additional information. If there are good sources of additional information for students interested in exploring this topic further, these should go at the bottom of the page. --> |

## Latest revision as of 17:11, 29 April 2006

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.