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Due to the advancement of computing and communication technology, networked control systems may soon become prevalent in many control applications. While the capability of employing the communication network in the control loop certainly provides many benefits, it also raises several challenges which need to be overcome to utilize the benefits. In this chapter, we focus on one major challenge:...
This chapter discusses technologies and models for low power wireless industrial communication. The aim of the text is to narrow the gap between the models used in the theoretical control literature with models that arise when tools from communication theory are used to model emerging standards for industrial wireless. The chapter provides a tutorial overview covering basic concepts and models for...
In this chapter we present a popular class of distributed algorithms, known as linear consensus algorithms, which have the ability to compute the global average of local quantities. These algorithms are particularly suitable in the context of multi-agent systems and networked control systems, i.e. control systems that are physically distributed and cooperate by exchanging information through a communication...
This chapter provides a tutorial overview of distributed optimization and game theory for decision-making in networked systems. We discuss properties of first-order methods for smooth and non-smooth convex optimization, and review mathematical decomposition techniques. A model of networked decision-making is introduced in which a communication structure is enforced that determines which nodes are...
Decentralized and distributed model predictive control (DMPC) addresses the problem of controlling a multivariable dynamical process, composed by several interacting subsystems and subject to constraints, in a computation and communication efficient way. Compared to a centralized MPC setup, where a global optimal control problem must be solved on-line with respect to all actuator commands given the...
Decentralized control has been a large area of open research for over forty years. To cover every aspect of it would require a vast knowledge of applied mathematics and considerable time. Consequently, in this tutorial we will attempt to restrict our attention to optimal control of systems which are linear with Gaussian random noise and disturbances, where the objective is a quadratic cost function...
The presence of a communication network in a control loop induces many imperfections such as varying transmission delays, varying sampling/transmission intervals, packet loss, communication constraints and quantization effects, which can degrade the control performance significantly and even lead to instability. Various techniques have been proposed in the literature for stability analysis and controller...
In this chapter, we present recent approaches towards networked control systems (NCSs) motivated by capacity constraints in communication channels. Consideration of such constraints is important since the channels are shared by various system components, and thus the communication rate necessary for control-related signals must be explicitly taken into account. The chapter consists of two main parts...
Networked control systems often send information across the communication network in a periodic manner. The selected period, however, must assure adequate system performance over a wide range of operating conditions and this conservative’ choice may result in significant over-provisioning of the communication network. This observation has motivated the use of sporadic transmission across the network’s...
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