2
2
FORMULATION OF THE PROBLEM
Consider an NCS shown in Fig. 1, in whichsensor is clock-driven and both controller andactuator are event driven.Figure 1 The block diagram of NCSIn Fig. 1, a class of linear time-invariant plantsis described as
)()()(
t but Axt x
+=
&
t
∈
[
t
k
, t
k+1
) ,
k
= 0,1, 2, ...(1)where
x
(
t
)
∈
R
n
is a state vector,
u
(
t
k
)
∈
R
is a controlinput vector, (
A
,
b
) is controllable,
A
is a constantmatrix with
unknown elements
,
b
is a knownconstant vector. We assume that the control isupdated at the instant
t
k
and kept constant until nextcontrol update is received at time
t
k+1
. Let
h
be thetransmission period between successivetransmissions, that is,
h
=
t
k+1
–
t
k
. For this paper, weassume that the transmission process is ideal, thereare no delays, no data losses (packet losses) duringthe transmission. In future work, we will relax theseassumptions.Our objective is to design an adaptive stabilizerfor the networked system and to find an upper boundon the time transmission period (sampling period)
h
such that the NCS is still stable.The control input is of the form
)()()(
k T
t xt k t u
=
(2)where
k
(
t
) is an
n
-dimensional
control parameter
vector,
T
denotes transpose. From Eqs. (1) and (2),we get
)()()()(
k T
t xt bk t Axt x
+=
&
)()()()(
*
k T T
t xt bk t xbk t x A
+−=
(3)where
T
bk A A
*
+=
is Hurwitz matrix satisfyingthat
Q APP A
T
−=+
,
P
and
Q
are symmetric andpositive–definite matrices, and
*
k
is the true value of
k
(
t
). Define
*
)()(
k t k t
−=
φ
as the control parametererror vector, and
e
(
t
) =
x
(
t
) –
x
(
t
k
) as the transmissionerror, Eq. (3) can be rewritten as
)()()()()(
*
t ebk t xt bt x At x
T k T
−+=
φ
&
(4)
3
MAIN RESULT
The main result of this paper will be treated inthe following theorem.
Theorem 1:
Let an NCS with linear time-invariantplant (1), an adaptive stabilizer with control input (2)is globally stable if the adaptive control law takes theform [6]
Pbt xt xt
k T k
)()()(
α φ
−=
&
(5)and the transmission period satisfies
{ }
321
,,,1min
hhhh
<
, where,
α
is an
n
×
n
symmetric positive-definite adaptation gain matrix,and
⎟⎟ ⎠ ⎞⎜⎜⎝ ⎛ +=
11
1ln1
ζ
uppupp
A Ah
⎟⎟ ⎠ ⎞⎜⎜⎝ ⎛ +=
2min2
)(1ln1
ζ βλ
uppupp
AQ Ah
⎟⎟⎟⎟⎟ ⎠ ⎞⎜⎜⎜⎜⎜⎝ ⎛ ⎟⎟ ⎠ ⎞⎜⎜⎝ ⎛ −−−−−
+=
123
)1()
41()41(1ln1
ζ β β β
uppupp
A Ah
where
α ζ
221
)(21)(
k k T upp
t x pbt bk A
++=
and
( )
)()(14
min12
t bk A AQP
T upp
++++=
λ ζ ζ
.
To prove the stability of the NCS, firstly, wewill find an upper bound on the transmission error
e
(
t
), a lower and an upper bound on the state
x
(
t
), andfinally, we will use these bounds in Lyapunovfunction to prove Theorem 1.
Lemma 1:
(Transmission Error Upper Bound) Thetransmission error e
(
t
)
is bounded between twosuccessive transmissions by
)()(
k
t xt e
γ
≤
(6)
where
)1()(21)(
)(22
−++=
−
k upp
t t Auppk k T upp
e At x pbt bk A
α γ
,
PlantControllerSensorActuatorNetwork