Abstract
A methodology is proposed for the design of sampled-data fixed-order decentralised controllers for Multiple Input Multiple Output (MIMO) Linear Time-Invariant (LTI) time-delay systems. Imperfections in the communication links between continuous-time plants and controllers arising due to transmission time-delays, aperiodic sampling, and asynchronous sensors and actuators are considered. We model the errors induced due to the control imperfections using an operator approach leading to a simple L2 stability criterion. A frequency domain-based direct optimisation approach towards controller design is proposed in this paper. This approach relies on the minimisation of cost functions, for stability and robustness against control imperfections, as a function of the controller or design parameters. First, the proposed method towards controller design is applied to generic MIMO LTI systems with time-delays. Second, when the delay system to be controlled has the structure of a network of coupled quasi-identical subsystems, we use a scalable algorithm to design identical decentralised controllers through network structure exploitation. Quasi-identical subsystems are identical subsystems that have non-identical uncertainties or control imperfections. By exploiting the structure, we improve the computational efficiency and scalability with the number of subsystems. The methodology has been implemented in a publicly available software, which supports system models in terms of delay differential algebraic equations. Finally, the effectiveness of the methodology is illustrated using a numerical example.
Original language | English |
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Pages (from-to) | 73-85 |
Number of pages | 13 |
Journal | European Journal of Control |
Volume | 56 |
DOIs | |
Publication status | Published - Nov 2020 |
Funding
This work was supported by the project C14/17/072 of the KU Leuven Research Council, by the project G0A5317N of the Research Foundation-Flanders (FWO - Vlaanderen), and by the project UCoCoS, funded by the European Unions Horizon 2020 research and innovation programme under the Marie Sklodowska-Curie Grant Agreement No 675080.
Funders | Funder number |
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European Union's Horizon 2020 - Research and Innovation Framework Programme | |
Fonds Wetenschappelijk Onderzoek | |
Katholieke Universiteit Leuven | G0A5317N |
European Union's Horizon 2020 - Research and Innovation Framework Programme | 675080 |
Keywords
- Decentralized control
- Network structure exploitation
- Robust controller design
- Sampled-data control
- Time-delay systems