Optimal and Robust Scheduling for Networked Control Systems tackles the problem of integrating system components-controllers, sensors, and actuators-in a networked control system. It is common practice in industry to solve such problems heuristically, because the few theoretical results available are not comprehensive and cannot be readily applied by practitioners. This book offers a solution to the deterministic scheduling problem that is based on rigorous control theoretical tools but also addresses practical implementation issues. Helping to bridge the gap between control theory and computer science, it suggests that the consideration of communication constraints at the design stage will significantly improve the performance of the control system.

IntroductionOverviewMotivationControl of Plants with Limited CommunicationIntroductionPractical considerationsModels for NCSsControl methodsScheduling methodsScheduling and controller codesign methodsStructural and stability analysisNonlinear NCSsSummaryA General Framework for NCS ModelingIntroductionLimited communication and schedulersNCS modelingNCS without ZOHPeriodicity and discrete-time liftingExtension to multi-networks, subnetworks and task schedulingMultirate systems, a special case of NCSsNCSs, a special case of switched and delayed systemsApplication to a vehicle brake-by-wire control systemSummaryControllability and ObservabilityIntroductionNCSs with ZOHNCSs without ZOHSampled-data caseExamplesSummaryCommunication Sequence OptimizationIntroductionOptimization problemOptimization algorithmsConstraint handlingOptimizing for ¿Optimization of NCSs which are multirate systemsApplying the optimization to the vehicle brake-by-wire control systemSummaryOptimal Controller and Schedule CodesignIntroductionProblem formulationOptimal codesignExamplesSummaryOptimal Schedule DesignIntroductionProblem formulationOptimal designExamplesSummaryRobust Schedule DesignIntroductionFormulation of an H8-based cost for performanceFormulation of a discrete H8-based cost for robustness and performanceFormulation of a sampled-data H8-based cost for robustness and performanceOptimal design with an exampleSummaryApplication to an Automotive Control SystemIntroductionVehicle model and controller designHIL from TTE systemsExperiments on the HILExperiments with FlexRaySummarySchedule Design for Nonlinear NCSsIntroductionDiscretization of nonlinear affine systemsSampled-data model of nonlinear NCSQuadratic cost function for NCS performanceOptimization problemAn SOS-framework for local cost computationExampleSummaryBibliographyIndex