Improved Stability Analysis of Nonlinear Networked Control Systems over Multiple Communication Links
For control engineers designing networked control systems, this work provides a more accurate stability condition that accounts for multiple communication links and various networking effects.
This paper presents an improved stability analysis for nonlinear networked control systems with multiple communication links, using Lyapunov-Krasovskii method to derive LMI-based stability conditions. Applied to a two-degree-of-freedom robot arm, it shows considerable improvement over previous works.
In this paper, we consider a nonlinear networked control system (NCS) in which controllers, sensors and actuators are connected via several communication links. In each link, networking effects such as the transmission delay, packet loss, sampling jitter and data packet miss-ordering are captured by time-varying delays. Stability analysis is carried out based on the Lyapunov Krasovskii method to obtain a condition for stability of the nonlinear NCS in the form of linear matrix inequality (LMI). The results are applied to a two degrees of freedom robot arm NCS which shows a considerable improvement with respect to the previous works.