Abstract— This paper investigates the state feedback control problem of nonlinear networked control systems in presence of data packet dropout. The random data packet dropout is modeled as a Bernoulli distributed sequence with a known conditional probability distribution. The closed-loop system model is obtained through the state augmentation method. The sufficient conditions for the existence of a state feedback controller are derived by means of Lyapunov stability theory such that the closed-loop control system is exponentially stable in the mean-square sense. The maximum bound of the nonlinear item of the control system is also obtained. Then a linear matrix inequality (LMI) based approach for designing such a controller which can be solved by Matlab LMI tool box is presented. Finally, a numerical simulation example is used to demonstrate the effectiveness of the proposed method.

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Abstract— This paper investigates the state feedback control problem of nonlinear networked control systems in presence of data packet dropout. The random data packet dropout is modeled as a Bernoulli distributed sequence with a known conditional probability distribution. The closed-loop system model is obtained through the state augmentation method. The sufficient conditions for the existence of a state feedback controller are derived by means of Lyapunov stability theory such that the closed-loop control system is exponentially stable in the mean-square sense. The maximum bound of the nonlinear item of the control system is also obtained. Then a linear matrix inequality (LMI) based approach for designing such a controller which can be solved by Matlab LMI tool box is presented. Finally, a numerical simulation example is used to demonstrate the effectiveness of the proposed method.

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ISSN: [2395-6992]

with Random Data Packet Dropout

Kexia Zhou1, Zuxin Li2, Yanfeng Wang3, Ying Shen4, Huiying Chen5

1,2

The Key Lab for IOT and Information Fusion Technology of Zhejiang, the Institute of Information and Control,

Hangzhou Dianzi University, China

2,3,4,5

School of Engineering, Huzhou University, China

Abstract This paper investigates the state feedback control problem of nonlinear networked control systems in

presence of data packet dropout. The random data packet dropout is modeled as a Bernoulli distributed sequence

with a known conditional probability distribution. The closed-loop system model is obtained through the state

augmentation method. The sufficient conditions for the existence of a state feedback controller are derived by means

of Lyapunov stability theory such that the closed-loop control system is exponentially stable in the mean-square sense.

The maximum bound of the nonlinear item of the control system is also obtained. Then a linear matrix inequality

(LMI) based approach for designing such a controller which can be solved by Matlab LMI tool box is presented.

Finally, a numerical simulation example is used to demonstrate the effectiveness of the proposed method.

KeywordsData Packet Dropout, Exponentially Mean-square Stable, Linear Matrix Inequality, Nonlinear.

I.

INTRODUCTION

In networked control system (NCS), control loops are closed by real-time networks. Such kind of control systems bring a lot

of advantages, such as reduced system wiring, simple system maintenance and low cost. In the field of industrial control,

remote medical treatment, military and other fields, NCS has been widely used [1-2].However, the application of

communication networks in feedback control loops makes the NCS analysis and synthesis complex because data packets

through networks suffer not only transmission delays but also data packet drop out [3-4].Many scholars have investigated the

effect of data packet dropout on the performance of the control system.

In recent years, there are many results for the controller design of linear network control systems respect to the data packet

dropout. For the NCS with random data packet drop out, literature [5-6] modeled NCS as a kind of Markov jump system, and

the mode dependent controller is designed. In literature [7], if the data packet drop out accrues, the input of the actuator was

considered to be zero, and the optimal estimation of NCS was studied. For a class of singular controlled plant, literature [8]

modeled closed-loop system as a kind of asynchronous dynamical system, and the control problem was investigated.

However, there is not much work reported about nonlinear NCS. The state feedback control problem for nonlinear NCS is

still very limited.

In this paper, the state feedback control problem for a kind of nonlinear NCS is investigated. Assuming that the data packet

dropout obeys Bernoulli distribution, the closed-loop system is modeled as a class of control system which contains

stochastic variable. The sufficient condition and design method of the state feedback controller for a class of nonlinear NCS

with random data packet drop out are given. Simulation results show that the method proposed in this paper is effective.

II.

PROBLEM FORMULATION

(1)

Where x ( k ) R is system state vector and u ( k ) R is the system control input. A and B are all real constant matrices.

n

(2)

Where His real constant matrix, and 0is the bound of the nonlinear disturbance.

We consider the circumstance that data packet drop out occurs between sensor and controller. A stochastic variable is defined

Page | 36

ISSN: [2395-6992]

(k )

.

otherwise

1

The mathematical expectation and variance of (k ) are as follows:

When data packet dropout occurs, the actuator continues to use the previous cycle control signal, so NCS with data packet

dropout can be described as:

(3)

u (k ) Kx(k )

(4)

(5)

written as:

(k 1) (k ) (k ) EF (k , (k ))

(6)

Where

A (k ) B (1 (k )) B

I

( k )

, E , F (k , (k )) f (k , G (k )) , G I 0 .

I

0

Definition 1 The closed-loop NCS (6) is said to be exponentially mean-square stable if there exist constants

0 and

Lemma 1[9] Let1 , 2 be symmetric matrices. The conditions on

0 such that T1 T2 0 .

III.

CONTROLLER DESIGN

Theorem 1 Take as given communication channel parameters Prob{ (k ) 0} 1 a ,The closed-loop NCS(6) is

exponentially mean-square stable if there exist positive definite matrices P,Q and nonnegative real scalar 0 such that the

following matrix inequality holds:

11 2 H T H

21

31

*

22

32

* 0

33 I

(7)

where

22 (1 a) 2 ( BK )T PBK b 2 ( BK )T PBK Q , 32 (1 a) IPBK , 32 P .

Page | 37

ISSN: [2395-6992]

Proof:

Define a Lyapunov function

P 0

V (k ) (k )T S (k ) (k )T

(k )T

0 Q

T

T

x(k ) Px(k ) x(k 1) Qx(k 1)

Where P and Q are positive definite matrices, we have:

E{Vk 1} E{Vk }

E{[( A (k ) BK ) x(k ) (1 (k ))BKx (k 1) f (k , x(k )]T P

[( A (k ) BK ) x(k ) (1 (k ))BKx (k 1) f (k , x(k )]

x(k )T Qx(k ) x(k )T Px (k ) x(k 1)T Qx(k 1)

E{[( A BK ) x(k ) ( (k ) ) BKx (k ) ( (k ) ) BKx (k 1) (1 ) BKx (k 1) f (k , x(k )]T P

[( A BK ) x(k ) ( (k ) ) BKx (k ) ( (k ) ) BKx (k 1) (1 ) BKx (k 1) f (k , x(k )]

x(k )T Qx(k ) x(k )T Px (k ) x(k 1)T Qx(k 1)

11

= (k )T 21

31

Where (k )T x(k )T

x(k 1)T

*

22

32

*

* (k )

33

(8)

f (k , x(k ))T .

2 H T H

(k )T

0

* *

0 * (k ) 0

0 I

(9)

11 2 H T H

21

31

*

22

32

* 0

33 I

*

22

32

*

* 0

33

(10)

11

21

31

Since S 0 ,it is clear that

()

()

that +1

+1

+ 1

max (S )

()

) { kT S k }

Page | 38

(1

max (S )

That is {|| k

where

max (S )

ISSN: [2395-6992]

) k {|| 0 ||2 }

max ( S )

, 1

.

min ( S )

max ( S )

Theorem 2 Take as given communication channel parameters Prob{ (k ) 0} 1 a , the systems (6) is exponentially mean

square stable if there exist positive definite matrices M>0,N>0, matrix Y and a scalar 0 satisfying the following LMI

*

0

(11)

where

AM

diag ( N M , N , I ) , diag ( M , M , I ) , bBY

HM

(1 a) BY

bBY

0

I

0 and the controller is given by u (k ) YM 1 x(k ) .

0

Proof:

(7) Is equivalent to

11 2 H T H

21

31

*

22

32

* 0

33 I

(12)

Where

( BK )T P ( A aBK ) b2 ( BK )T PBK

(1 a)( BK )T P ( A aBK ) b2 ( BK )T PBK

,

Q P ,

11

21

IP ( A aBK ) ,

(1 a) IPBK

P ,

(1 a)2 ( BK )T PBK

,

b2 ( BK )T PBK

Q ,

32

31

32

22

P

Q

P , Q ,

Q P 2 H T H

b2 ( BK )T PBK

*

*

2

T

2

T

b ( BK ) PBK

b ( BK ) PBK Q *

IP( A aBK )

0

I

( A aBK )T

T

(1 a)( BK ) P A aBK

(1 a)( BK ) I 0 .

Q P 2 H T H

b2 ( BK )T PBK

*

*

*

2

T

2

T

b ( BK ) PBK

b ( BK ) PBK Q *

*

IP( A aBK )

0

I *

A aBK

(1 a) BK

I P 1

11 *

0

21 22

(13)

Page | 39

ISSN: [2395-6992]

Where

H

*

bBK

0

*

* .

0

Corollary 1 If the following optimization problem has solution

min

>0,>0,>0,

. . (11)

Remark 1 the above convex optimization with LMI constraints can be solved by Matlab LMI toolbox objective function

minimization problem solver mincx.

IV.

SIMULATION EXAMPLE

2

1

1

x(k 1)

x(k ) 0.2 u (k )

0.3

0.6

0.1x1 (k )sin x1 (k )

0.2 x (k ) cos x (k ) .

2

2

Assume that the initial state of the system is x(0) 3 1 and the Probability of the data packet dropout is

T

Pr ob{ (k ) 0} 0.2 and the matrix H is a unit matrix. According to Theorem 2, and using Matlab LMI tool, we can get

40.0981 29.5003

Y 0.4610 0.2155 , M

. Hence, the controller gain matrix is

29.5003 63.9610

K YM 1 0.0212 -0.0131 .

By Matlab LMI toolbox objective function minimization problem solver mincx, the maximum bound of nonlinear

disturbance in (2) is obtained as max 0.2277 . The process of data packet drop out and the state trajectory of the closed-loop

system is shown by the Fig.1 and Fig.2, respectively.

1.5

0.5

-0.5

10

20

30

40

50

60

70

Page | 40

ISSN: [2395-6992]

3.5

x1

x2

3

2.5

2

1.5

1

0.5

0

-0.5

-1

10

20

30

40

50

60

70

From the figure above, we can see that the closed-loop system is still stable under the designed controller even if there exists

data packet dropout.

V.

CONCLUSION

In this paper, the sufficient condition and design method of the state feedback controller for a class of nonlinear NCS with

random data packet drop out are given. The controller gain matrix and the maximum bound of the nonlinear item of the

control system can be obtained by use of the relevant tool box of Matlab. Simulation results show that the method proposed

in this paper is effective.

VI.

ACKNOWLEDGEMENTS

This work was supported by the National Natural Science Foundation of China under grant nos.

61174029,61573136,61503136.

REFERENCES

[1] K. Y. You, L. H. Xie, Survey of recent progress in networked controlsystems, Acta AutomaticaSinica, Vol.39,No.2,pp.101-118, 2013.

[2] Y. Z. Liu, G. M. Li, H. Du, Robust control of NCS with delay and packet dropout ,Control and Decision,Vol.29, No.3, pp.517522,2014.

[3] D. Wang, J. Wang, and W. Wang, controller design of networked control systems with Markov packet dropouts, IEEE

Transactions on Systems, Man, and Cybernetics: Systems Vol.43, No.3,pp. 689-697. 2013

[4] R. Q. Lu, X. X. Zhou, F. Wu and A. K Xue., Quantized output feedback control for linear discrete-time systems, Journal of the

Franklin Institute,Vol.35,No.8,pp.2096-2108., 2013

[5] J. Wu , T. W. Chen , Design of networked control systems with packet dropouts,IEEE Trans on Automatic control,

Vol.52,No.7,pp.1314-1319, 2007

[6] D. X. Xie ,X. D. Han , et al., state feedback Control for networked control systems with data packet dropout,Systems Engineering

and Electronics,Vol.31,No.3,pp.629-633,2009.

[7] P. Seiler, R. Sengupta, An approach to networked control, IEEE Trans on Automatic control, Vol.50,No.3,pp.356-364 , 2005.

[8] Z. Z. Qiu, L. N. ZHAO,et al, controller design for singular networked control systems with data packet dropout, CAAI

Transactions on Intelligent S`ystems, Vol.10,No.1,pp.120-130, 2015

[9] V. A. Yakubovich, The S-procedure in nonlinear control theory,Vestnik Leningrad University Mathematics, Vol.4,pp.73-74.19

Page | 41

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