网络控制系统补偿器设计及稳定性分析.pdf

25 2 Vol. 25 No. 2 2008 4 Control Theory Applications Apr. 2008 :2008 , (1. , 100190; 2. , 100044) : , . GPC, , ; . . , . : ; ; ; : TP13 : A Compensator design and stability analysis for networked control systems NIE Xue-yuan , WANG Heng (1. Institute of Mechanics, Chinese Academy of Sciences, Beijing 100190, China; 2. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China) Abstract: Time delays in networked control systems degrade the performance of the controlled systems. A model-based compensation algorithm is proposed to alleviate the adverse effect of network-induced delay on the networked control sys- tems. The multi-step predictive controller using generalized predictive control in a state space form is designed to compen- sate the delays in the forward channel. The state predictor with the ability to compensate for the time delay in feedback channel is also reconstructed to predict the plant states. In addition, the stability of closed-loop networked control system with the mentioned compensation strategy is analyzed. Finally, simulation results of different time delays demonstrate that the scheme with the designed compensator can effectively improve the control performance and keep the system stable. Key words: networked control systems; GPC control algorithm; state observer; delay compensation 1 (Introduction) . [4] NCS(networked control sys- tems), .