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1、AsymptoticBehaviorofNetworkedControlSystemsGregoryC.WalshDepartmentofMechanicalEngineeringUniversityofMarylandCollegePark,MD20742gwalsh@eng.umd.eduOctavianBeldimanandLindaBushnellDepartmentofElectricalandComputerEngineeringBox90291DukeUniversityDurham,NC27708-0
2、291ovb@ee.duke.eduandlgb@ee.duke.eduDecember14,1998AbstractThede ningcharacteristicofanetworkedcontrolsystem(NCS)ishavingafeedbackloopthatpassesthroughalocalareacomputernetwork.Thispaperconsidersnonlinearsystemscontrolledinthismanner,anddemonstratesthatforsucie
3、ntlyhightransmissionrates,thenetworkmaybeconsideredtransparent.Threemethodsofschedulingdatapacketsarecompared:astaticscheduler(tokenring),theTry-Once-Discard(maximum-error- rst)schedulerwithcontinuousprioritylevels,andtheTry-Once-Discardschedulerwithdiscreteprio
4、ritylevels.Thethirdmethodisofparticularinterestwhenonlyasmallnumberofbitsareavailableforcollisionresolution.Asymptoticstabilityisguaranteedinthe rsttwocases,andultimateuniformboundednessinthethird.Inthe nalsection,simulationsdemonstratethetheoreticalresults.Thec
5、ontributionsofthispaperaretwo-fold: rst,itextendstheearlierresultsonNCStononlinearsystems,andsecond,itallowsfor niteword-lengthmessageidenti ers.Keywords:Networkedcontrol(CAN):controlofsystemsthroughnetworks.Decentralized/distributedcontrol:decisionsmadecooper
6、atively.Hybridsystems:packetsarriveasynchronouslyatdiscretetimes.Dr.BushnellisalsowiththeU.S.ArmyResearchOce,P.O.Box12211,RTP,NC27709-2211.ThisresearchwassupportedinpartbytheArmyResearchOcegrantnumberDAAH04-93-D-0002andbytheNationalScienceFoundationundergran
7、tno.ECS-97-0271711IntroductionUsinga(localarea)networkedcontrolarchitecturehasmanyadvantagesofatraditionalpoint-to-pointdesignincludinglowcostofinstallation,easeofmaintenance,lowercost,andgreater
exibility[3],[4].Forthesereasonsthenetworkedcontrolarchitectureisa
8、lreadyusedinmanyapplications,particularlywhereweightandvolumeareofconsideration,forexampleinautomobiles[2]andaircraft[5],[6].Theintroductionofacomputernetworkinthefee
