Neural Computing and Applications

https://doi.org/10.1007/s00521-020-04826-6 (0123456789().,-volV)(0123456789().
,- volV)

ORIGINAL ARTICLE

H-infinity stability analysis and output feedback control for fuzzy

stochastic networked control systems with time-varying
communication delays and multipath packet dropouts
Zhiming Zhang1 • Wei Zheng1 • Ping Xie1 • Fuchun Sun2 • Xiaolei Li3 • Shuhuan Wen1

Received: 21 May 2019 / Accepted: 2 March 2020

 Springer-Verlag London Ltd., part of Springer Nature 2020

Abstract
The H-infinity stability analysis and delay-dependent Takagi–Sugeno (T–S) fuzzy dynamic output feedback control are
proposed for the T–S fuzzy discrete networked control systems with time-varying communication delay and multipath
packet dropouts. T–S fuzzy model is employed to approximate the discrete networked control system with time-varying
state delay and external disturbance. Stochastic system theory and Bernoulli probability distribution are employed to
describe the time-varying communication delay and multipath packet dropouts. Delay-dependent T–S fuzzy dynamic
output feedback controller is designed. The delay-dependent T–S fuzzy dynamic output feedback controller is employed to
relax the design conditions and enhance the design flexibility. The delay-dependent Lyapunov–Krasovskii functional,
stochastic system theory and Bernoulli probability distribution are introduced to guarantee the stochastic mean-square
stability and prescribed H-infinity performance. Some slack matrices are introduced to reduce the computation complexity.
Finally, simulation examples are presented to show the effectiveness and advantages of the proposed methods.

Keywords Stability analysis  Lyapunov–Krasovskii functional  Takagi–Sugeno (T–S) fuzzy model  Linear matrix
inequalities (LMIs)  Time-varying delay

1 Introduction the time for adding sensors to the control system are
reduced; and (3) the installation process is simplified and
Recently, the communication technology and computer the reliability is improved [2]. The networked control
technology have developed rapidly and the networks have systems have attracted much more attention because of the
been applied to the control systems as a kind of signal above advantages [3]. However, with the introduction of
transmission medium at the same time [1]. Generally, the the networks, some new problems arise in the networked
networked control systems are connected by the controllers control systems, such as the communication delays and
and the system plants via the communication networks [1]. multipath packet dropouts [4, 5]. The stability analysis and
The advantages of the networked control systems are controller design of the networked control system will
summarized as: (1) the cost of cables and the number of become complex because of the communication delays and
cables are both reduced; (2) the power requirements and multipath packet dropouts, such that the system perfor-
mance will become worse and unstable [6]. The commu-
nication delays and multipath packet dropouts in the
& Wei Zheng networked control systems result from two communication
weizheng@stumail.ysu.edu.cn; vivian-cheang@hotmail.com channels [7–9]. The first communication channel is
1 between the controller and the actuator, which is estab-
School of Electrical Engineering, Yanshan University,
Qinhuangdao 066004, People’s Republic of China lished to send the control signal from the controller to the
2 actuator [7]. This communication delays and packet drop-
School of Computer Science and Technology, Tsinghua
University, Beijing 100084, People’s Republic of China outs resulting from this communication channel are the
3 forward time delay and forward packet dropouts, respec-
School of Electrical and Electronic Engineering, Nanyang
Technological University, Singapore 639798, Singapore tively [7]. The second communication channel is between

123

the sensor and the controller, which is established to send
the measured outputs to the controller [8]. The communi-
cation delays and packet dropouts resulting from this
communication channel are the feedback time delay and
feedback packet dropouts, respectively [8]. However, there
are some problems with signal transmissions based on the
imperfect channels and limited bandwidths [10]. The sys-
tem stability and system performance of the networked
control systems are affected by the communication delays
and multipath packet dropouts [11, 12]. Thus, the stability
analysis and controller design for a class of the networked
control systems with communication delays and multipath
packet dropouts have been investigated in this paper.
Until now, most results about the stability analysis and
controller design of the networked control systems are
obtained based on the linear matrix inequalities (LMIs) and
Lyapunov–Krasovskii functional methods; see [13–15] and
the references therein. Stochastic stability analysis and
controller design of the networked control systems are
challenging due to the complexity in nature [16, 17]. An
effective method to represent the dynamic characteristic of
the complex networked control system is the Takagi–
Sugeno (T–S) fuzzy model-based stochastic approach, in
which a family of local linear subsystems are employed,
Then, the global behavior of the complex networked con-
trol system is described via the fuzzy membership func-
tions [18–20]. With the help of the favorable model
structure in support of control design and the rigorous
mathematical foundation, the stability analysis and con-
troller design of T–S fuzzy-model-based stochastic control
systems can be investigated effectively [21–23]. For the T–
S fuzzy-model-based stochastic control systems, an effec-
tive method to investigate the stability analysis and con-
troller design is based on the Lyapunov–Krasovskii
stability theory [24]. From the Lyapunov–Krasovskii sta-
bility theory, if there is a common solution for the Lya-
punov–Krasovskii inequalities in terms of LMIs, then the
asymptotic stability of the stochastic T–S fuzzy closed-
loop control system is guaranteed [24]. If the stability
conditions of the T–S fuzzy-model-based stochastic control
systems are given in the form of LMIs, the LMIs can be
solved by the convex programming techniques [25–27]. On
the other hand, the time delays may arise in many dynamic
systems, and the time delays have become one of the main
reasons for the nonminimum phase and poor system per-
formance [28]. Many investigations have been conducted
on the stability analysis and controller design of the fuzzy
systems with time delays and packet dropouts till now, and
the main object is to expand the feasibility regions of the
stability conditions for the closed-loop system [29]. The T–
S fuzzy control method provides a systematic methodology
to solve the stability analysis and controller design prob-
lems of the networked control systems [30]. The T–S fuzzy
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Neural Computing and Applications
model is often used to approximate the system uncertain-
ties resulting from the time delays and packet dropouts
[31]. Generally, the T–S fuzzy controller is constructed in
the framework of the some local linear subsystems; thus,
the advantages of the T–S fuzzy model are summarized as:
(1) the T–S fuzzy model offers a distinctive framework to
denote the nonlinear system plant as an average weighted
sum of some local linear subsystems and (2) the T–S fuzzy
model has been extended to the polynomial fuzzy model
that can represent a wider range of nonlinear system plants
by employing the polynomial model as local subsystems
[32].
The output feedback controller was obtained based on
the fuzzy model, such that the signals in the closed-loop
system were guaranteed to be uniformly ultimately boun-
ded and the system outputs were proven to converge to an
adjustable bounded region [33–36]. Based on the Lya-
punov–Krasovskii functional and LMIs techniques, two
methods were developed to design the fuzzy output feed-
back controller for the nonlinear systems [37, 38]. From
[37, 38], it can be seen that the controller gains were
obtained by solving a set of finite LMIs based on the finite-
difference method in space. Moreover, it is proven that the
fuzzy output feedback controller can guarantee the uniform
ultimate boundedness for all the solutions of the single-
input and single-output closed-loop systems [39]. From
[39, 40], it can be seen that the fuzzy output feedback
controller has the large application range for the single-
input and single-output systems and multi-input and multi-
output systems. Furthermore, the fuzzy output feedback
control has been proposed in some industrial processes as
one of the effective nonlinear approximation methods; see
[41–43] and the references therein. From the above anal-
ysis, it can be seen that the output feedback control is more
effective than the state feedback control, because it is
difficult to obtain all the information of the state variables
in practice [44–49]. The advantages of the dynamic output
feedback control are summarized as: (1) it can relax the
control design conditions of the nonlinear system plants
with time delays and multipath packet dropouts [50, 51]
and (2) it is available to solve the time delays problems
because it has the powerful ability to reflect the internal
features of the control system [52–54].
The contributions in this paper are presented as follows.
The T–S fuzzy models allow the parametric uncertainties
existing in the fuzzy membership functions. The T–S fuzzy
modeling method has enlarged the applications range of the
control systems with time-varying state delay and external
disturbances. It has been proven that the T–S fuzzy model
is less conservative than the conventional fuzzy model on
approximating the system uncertainties caused by the time-
varying state delay and external disturbance. The T–S
fuzzy model is more effective than the conventional fuzzy
Neural Computing and Applications
model to design the delay-dependent T–S fuzzy dynamic
output feedback controller, because the system uncertain-
ties resulting from the time delays and disturbances can be
captured effectively by the delay-dependent stability con-
ditions and membership functions of the T–S fuzzy model
in this paper. The Schur complement and singular values
decomposition of the gain matrix are employed, and then
the stability conditions in terms of LMIs are derived. The
singular values decomposition of gain matrix is used to
compute the products of the stochastic matrices for
reducing the computation burden.
Notations The notations in this paper are presented as
follows. Rn denotes the n-dimensional Euclidean space,
and Rnn denotes the set of the n  n-dimensional matrix.
l2 ½0; 1Þ denotes the space of the square-integrable vector
function. M\0ð  0Þ and M [ 0ð  0Þ denote the nega-
tive-definite (seminegative-definite) matrix and positive-
definite (semipositive-definite) matrix with appropriate
dimensions, respectively. ‘‘I’’ and ‘‘0’’ denote the identity
matrix and zero matrix with appropriate dimensions,
respectively. The superscripts ‘‘T’’ and ‘‘- 1’’ denote the
matrix transposition and matrix inverse, respectively.
Probfx ¼ rg denotes the Bernoulli probability distribution
of the stochastic variable x ¼ r, and diagf. . .g denotes the
block-diagonal matrix.
2 System description
Plant rule i if x1 ðkÞ is Mi1 , x2 ðkÞ is Mi2 , …, and xg ðkÞ is
Mig , then
8 ProbfaðkÞ ¼ dg ¼
< xðk þ 1Þ ¼ Ai xðkÞ þ Adi xðk  dðkÞÞ þ Bi uðkÞ þ D1i wðkÞ
yðkÞ ¼ Ci xðkÞ þ D2i wðkÞ
:
zðkÞ ¼ Ei xðkÞ þ Fi xðk  d ðkÞÞ þ D3i wðkÞ
ð1Þ
where x1 ðkÞ; x2 ðkÞ; . . .; xg ðkÞ are the premise variables of
the system, Mij (i ¼ 1; 2; . . .; r, j ¼ 1; 2; . . .; g) is the fuzzy
set, r is the number of fuzzy rules and g is the number of
premise variables. xðkÞ 2 Rn , yðkÞ 2 Rm , zðkÞ 2 Rq and
uðkÞ 2 Rp are the state variable, measured output, control
output and control input of the system, respectively. Ai , Adi ,
Bi , Ci , D1i , D2i , D3i , Ei and Fi are the system gain matrices
with appropriate dimensions. wðkÞ 2 l2 ½0; 1Þ is the
external disturbance and dðkÞ is the time-varying state
delay such that
 By employing the T–S fuzzy inference [49], we get
0\d1  d ðkÞ  d2
ð2Þ
DdðkÞ  d 
where DdðkÞ is the forward difference of dðkÞ. d1 , d2 and
d are the lower bound of d ðkÞ, upper bound of dðkÞ and
upper bound of DdðkÞ, respectively.
Note that the time-varying communication delay and
packet dropouts from sensor to the controller are consid-
ered in the signal transmission network, as shown in Fig. 1.
Thus, the measured output yðkÞ in (1) is rewritten as
yðkÞ ¼ aðkÞCi xðk  sðkÞÞ þ aðkÞD2i wðk  sðkÞÞ ð3Þ
where aðkÞ is the stochastic variable to describe the packet
dropouts from sensor to the controller. sðkÞ ¼ ssc ðkÞ is the
time-varying communication delay from sensor to the
controller such that

0\s1  sðkÞ  s2
ð4Þ
DsðkÞ  s
where DsðkÞ is the forward difference of sðkÞ. s1 , s2 and s
are the lower bound of sðkÞ, upper bound of sðkÞ and upper
bound of DsðkÞ, respectively.
From (3), it can be seen that the stochastic system theory
and Bernoulli probability distribution are employed to
describe the time-varying communication delay and packet
dropouts from sensor to the controller, as shown in Fig. 1.
Thus, according to the stochastic system theory and Ber-
noulli probability distribution,

1; signal transmission successful
aðkÞ ¼ d ¼
0; signal transmission unsuccessful, i:e:; packet dropouts
ð5Þ
with

a; if d ¼ 1
ð6Þ
1  a; if d ¼ 0
where aðkÞ ¼ d ¼ 1 denotes the signal transmission suc-
cessful and aðkÞ ¼ d ¼ 0 denotes the signal transmission
unsuccessful, i.e., packet dropouts. ProbfaðkÞ ¼ dg is the
Bernoulli probability distribution of the stochastic variable
aðkÞ ¼ d. a is the value of the Bernoulli probability dis-
tribution ProbfaðkÞ ¼ d ¼ 1g, and 1  a is the value of the
Bernoulli probability distribution ProbfaðkÞ ¼ d ¼ 0g.
Thus, substituting (3) into (1), we get
8
< xðk þ 1Þ ¼ Ai xðkÞ þ Adi xðk  dðkÞÞ þ Bi uðkÞ þ D1i wðkÞ
yðkÞ ¼ aðkÞCi xðk  sðkÞÞ þ aðkÞD2i wðk  sðkÞÞ
:
zðkÞ ¼ Ei xðkÞ þ Fi xðk  d ðkÞÞ þ D3i wðkÞ
ð7Þ
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 Neural Computing and Applications

d (k ) w(k )

T-S fuzzy
Actuator discrete Sensor
system

⎧⎪ β ( k ) Communication Communication ⎧⎪α ( k )

⎨ delay τ ( k ) and Signal transmission network delay τ ( k ) and ⎨
⎪⎩ Pr ob {β ( k ) = ξ } packet dropouts packet dropouts ⎪⎩ Pr ob {α ( k ) = δ }

T-S Fuzzy
dynamic output
feedback controller

Fig. 1 Graphical abstract of delay-dependent T–S fuzzy dynamic output feedback control

8
>
> xð k þ 1 Þ ¼
P r
hi ðxðkÞÞðAi xðkÞ þ Adi xðk  dðkÞÞ þ Bi uðkÞ þ D1i wðkÞÞ
time-varying state delay dðkÞ, external disturbance wðkÞ,
>
>
>
> i¼1 time-varying communication delay sðkÞ and multipath
< Pr
yð k Þ ¼ hi ðxðkÞÞðaðkÞCi xðk  sðkÞÞ þ aðkÞD2i wðk  sðkÞÞÞ packet dropouts in this paper. Besides, the stochastic sys-
>
> i¼1
>
> tem theory and Bernoulli probability distribution are more
> zðkÞ ¼ P hi ðxðkÞÞðEi xðkÞ þ Fi xðk  d ðkÞÞ þ D3i wðkÞÞ
r
>
:
i¼1 suitable to describe the time-varying communication delay
ð8Þ and packet dropouts in the networked control system
[56–58]. Thus, the stochastic variable aðkÞ and Bernoulli
where xðkÞ ¼½ x1 ðkÞ x2 ðkÞ . . . xg ðkÞ T hi ð x ð k Þ Þ is probability distribution ProbfaðkÞ ¼ dg are employed to
described as describe the time-varying communication delay and packet
Qg   dropouts, as shown in Fig. 1.
Mij xj ðkÞ
j¼1
hi ðxðkÞÞ ¼ Pr Qg   ð9Þ
i¼1 j¼1 Mij xj ðkÞ
3 Controller design
with
8
< hi ðxðkÞÞ  0 Controller rule i if h1 ðkÞ is Mi1 , h2 ðkÞ is Mi2 ,…, and
Pr
ð10Þ hg ðkÞ is Mig , then
: hi ð x ð k Þ Þ ¼ 1 
i¼1
x~ðk þ 1Þ ¼ Aci x~ðkÞ þ Bci yðkÞ
  ð11Þ
where Mij xj ðkÞ is the grade of the membership function uðkÞ ¼ Cci x~ðkÞ
for xj ðkÞ.
where h1 ðkÞ; h2 ðkÞ; . . . ; hg ðkÞ are the premise variables
Remark 1 The H-infinity stability analysis and output of the controller, Mij (i ¼ 1; 2; . . . ; r,
feedback control were proposed for a class of linear semi- j ¼ 1; 2; . . . ; g) is the fuzzy set, r is the number of the
Markovian jump systems with time-varying state delay and fuzzy rule and g is the number of premise variables. x~ðkÞ 2
external disturbance [46], without considering time-vary- Rn is the state variable of the controller, and Aci , Bci and Cci
ing communication delay. The H-infinity stability analysis are the controller gain matrices to be determined.
and event-triggering filtering control were proposed for a Note that the time-varying communication delay and
class of continuous networked control systems with time- packet dropouts from the controller to the actuator are
varying communication delay and external disturbance considered in the signal transmission network, as shown in
[55], without considering multipath packet dropouts. Fig. 1. Thus, the control input uðkÞ in (11) is rewritten as
Remark 2 The T–S fuzzy model has the nice ability to uðkÞ ¼ bðkÞCci x~ðk  sðkÞÞ ð12Þ
approximate the system plant, because the T–S fuzzy where bðkÞ is the stochastic variable to describe the packet
model offers a distinctive framework to denote the system dropouts from controller to the actuator. sðkÞ ¼ sca ðkÞ is
plant as an average weighted sum of some linear subsys- the time-varying communication delay from controller to
tems [51]. Thus, the T–S fuzzy model is employed to the actuator satisfying (4).
approximate the discrete networked control system with Thus,

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Neural Computing and Applications


bðkÞ ¼ n ¼
1; signal transmission successful    
0; signal transmission unsuccessful ; i:e:; packet dropouts xðkÞ wðkÞ
xðkÞ ¼ ,  ðkÞ ¼
w ,
ð13Þ x~ðkÞ wðk   ðkÞÞ
  
b; if n ¼ 1 Pr Pr Ai 0
ProbfbðkÞ ¼ ng ¼ ð14Þ A0 ðhÞ ¼ ,
1  b; if n ¼ 0 i¼1 j¼1 hi hj 0 Aci Ej
 
where bðkÞ ¼ n ¼ 1 denotes the signal transmission suc- Pr Pr Adi Acj 0
cessful and bðkÞ ¼ n ¼ 0 denotes the signal transmission Ad0 ðhÞ ¼ i¼1 j¼1 hi hj ,
0 0
unsuccessful, i.e., packet dropouts. ProbfbðkÞ ¼ ng is the  
Bernoulli probability distribution of the stochastic variable Pr Pr 0 Bi Ccj
bðkÞ ¼ n. b is the value of the Bernoulli probability dis- B0 ðhÞ ¼ i¼1 j¼1 hi hj ,
Bci Cj 0
tribution ProbfbðkÞ ¼ n ¼ 1g, and 1  b is the value of the
Bernoulli probability distribution ProbfbðkÞ ¼ n ¼ 0g. Pr Pr
Bk ðhÞ ¼ i¼1 j¼1 hi hj
Substituting (12) into (11), we obtain
  
x~ðk þ 1Þ ¼ Aci x~ðkÞ þ Bci yðkÞ 0 ~ðkÞBi Ccj P
ð15Þ , D0 ðhÞ ¼ ri¼1
uðkÞ ¼ bðkÞCci x~ðk  sðkÞÞ
~ðkÞBci Cj
 0
By employing the T–S fuzzy inference [49], we get  
8
Pr D1i 0
> P
r j¼1 hi hj ,
>
< x~ðk þ 1Þ ¼ hi ðhðkÞÞðAci x~ðkÞ þ Bci yðkÞÞ 0 Bci D2j
i¼1
ð16Þ  
> P
r Pr Pr 0 0
>
: uð k Þ ¼ hi ðhðkÞÞðbðkÞCci x~ðk  sðkÞÞÞ Dk ðhÞ ¼ i¼1 j¼1 hi hj ,
i¼1 0  ~ðkÞBci D2j
T
where hðkÞ ¼½ h1 ðkÞ h2 ðkÞ . . . hg ðkÞ  , hi ðhðkÞÞ is P P
E0 ðhÞ ¼ ri¼1 rj¼1 hi hj ½ Ei Ccj 0 ,
described as
Qg  
j¼1 Mij hj ðkÞ P P
hi ðhðkÞÞ ¼ Pr Qg   ð17Þ F0 (h) ¼ ri¼1 rj¼1 hi hj ½ Fi Ccj 0 ,
i¼1 j¼1 Mij hj ðkÞ

with Pr Pr
 D30 ðhÞ ¼ i¼1 j¼1 hi hj ½ D3i Bcj 0 :
P
r
hi ðhðkÞÞ  0; hi ðhðkÞÞ ¼ 1 ð18Þ (
i¼1 a~ðkÞ ¼ aðkÞ  a
  ð20Þ
where Mij hj ðkÞ is the grade of the membership function b~ðkÞ ¼ bðkÞ  b
for hj ðkÞ.
According to the definitions of the stochastic variables and
Remark 3 From (3) and (12), it can be seen that not only considering (5) (6), (13), (14) and (20), we get
the time-varying communication delay and packet dropouts
from sensor to the controller, but also the time-varying
communication delay and packet dropouts from controller
to the actuator are considered in the discrete networked
control system.
Applying (16) to (8) yields


xðk þ 1Þ ¼ A0 ðhÞ
xðkÞ þ Ad0 ðhÞ
xðk  d ðkÞÞ þ ðB0 ðhÞ þ Bk ðhÞÞ
xðk  sðkÞÞ þ ðD0 ðhÞ þ Dk ðhÞÞw
ðkÞ
ð19Þ
zðkÞ ¼ E0 ðhÞ
xðkÞ þ F0 ðhÞ
xðk  dðkÞÞ þ D30 ðhÞw  ðk Þ

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 Neural Computing and Applications

8 n o
< Efa~ðkÞg ¼ EfaðkÞ  ag ¼ 0; E b~ðkÞ ¼ EfbðkÞ  bg ¼ 0
  n o ð21Þ
: E a~2 ðkÞ ¼ EfaðkÞ  ag ¼ að1  aÞ; E b~2 ðkÞ ¼ EfbðkÞ  bg ¼ bð1  bÞ

  n o n o
and packet dropouts [60], without considering T–S fuzzy
where Efa~ðkÞg, E a~2 ðkÞ , E b~ðkÞ and E b~2 ðkÞ are the
dynamic output feedback control.
mathematical expectations of a~ðkÞ, a~2 ðkÞ, b~ðkÞ and b~2 ðkÞ,
respectively. For simplicity, a20 and b20 are introduced to Remark 7 The T–S fuzzy model has the nice ability to
facilitate the stability analysis and controller design in the
denote að1  aÞ and bð1  bÞ
 2 control system [8, 15, 16]. Besides, it is well known that
a0 , að 1  aÞ the static output feedback control is easy to implement, but
ð22Þ
b20 , bð1  bÞ some strict conditions should be considered in the control
system [49]. However, the dynamic output feedback con-
Definitions 1–2, Assumption 1 and Lemmas 1–2 are pre-
trol is more flexible and the required conditions are less
sented in ‘‘Appendix’’ to derive the main results in Sect. 4.
conservative in the control system [49]. Thus, combining
Remark 4 The objective in this paper is to design the the T–S fuzzy model and dynamic output feedback control,
controller (16) such that the delay-dependent T–S fuzzy dynamic output feedback
controller is designed for the T–S fuzzy discrete networked
1. The closed-loop system (19) is stochastically mean-
control system in this paper. Similarly, the stochastic
square stable;
variable bðkÞ and Bernoulli probability distribution
2. The closed-loop system (19) is stochastically mean-
ProbfbðkÞ ¼ ng are employed to describe the time-varying
square stable, and the prescribed H-infinity perfor-
communication delay and packet dropouts from controller
mance is guaranteed for the zero initial condition and
to the actuator, as shown in Fig. 1.
wðkÞ 6¼ 0.

Remark 5 According to Assumption 1, one can obtain the 4 Main results

singular values decomposition of Bi as follows:
T 4.1 Stability conditions
Bi ¼ U M T 0 V ð23Þ
U ¼ ½ U1 U2  ð24Þ Theorem 1 For the given H-infinity performance index
c [ 0, if there exist the fuzzy-basis-dependent matrices
where U1 2 Rnm , U2 2 RnðnmÞ , U 2 Rnn and V 2 Rmm
PðhÞ [ 0, QðhÞ [ 0 and RðhÞ [ 0 with appropriate
are the unitary matrices and M is a diagonal matrix with
dimensions such that
appropriate dimension. 2 3
P^ðhÞ AT ðhÞ BT ðhÞ ET ðhÞ
Remark 6 The asymptotical stability analysis and event- 6  P1 ðhÞ 0 0 7
based dynamic output feedback control were proposed for H ð hÞ ¼ 6
4 
70
 1
P ðhÞ 0 5
a class of networked control systems with sensor and    I
actuator saturations [59], without considering H-infinity
ð25Þ
stability analysis. The H-infinity stability analysis and
static output feedback control were proposed for a class of
networked control systems with network-induced delays

8 2 3
>
> ðd2  d1 þ 1ÞQðhþ Þ þ ðs2  s1 þ 1ÞRðhþ Þ  Pðhþ Þ 0 0 0
>
> 6 0 Qðh Þþ
0 0 7
>
> P^ðhÞ ¼ 6 7
> 4
>
< 0 0 Rðh Þþ
0 5
0 0 0 c2 I ð26Þ
>
> ðhÞ ¼ ½ A0 ðhÞ Ad0 ðhÞ B0 ðhÞ D0 ðhÞ ; ðhÞ ¼ ½ 0 0 a0 Bk0 ðhÞ a0 Dk0 ðhÞ 
>
> A B  
>
>
>
> I 0
: EðhÞ ¼ ½ E0 ðhÞ F0 ðhÞ 0 D30 ðhÞ ; I ¼ n
0 In

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Neural Computing and Applications

xT ðkÞAT0 ðhÞPðhÞD0 ðhÞw

þ 2 xT ðkÞAT0 ðhÞPðhÞDk ðhÞw
ðkÞ þ 2 ðkÞ
where T
 T
þ x ðk  sðkÞÞ B0 ðhÞPðhÞB0 ðhÞ
8 2 3 
> P r P b0 þ2BT0 ðhÞPðhÞBk ðhÞ þ BTk ðhÞPðhÞBk ðhÞ xðk  sðkÞÞ
>
>
r
0 B C
>
>
> Bk0 ðhÞ ¼ hi hj 4 a0
i cj 5 
þ xT ðk  sðkÞÞ 2BT0 ðhÞPðhÞD0 ðhÞ þ 2BT0 ðhÞPðhÞDk ðhÞ
< i¼1 j¼1 Bci Cj 0 
  ; ð27Þ þ2BTk ðhÞPðhÞD0 ðhÞ þ 2BTk ðhÞPðhÞDk ðhÞ w ðkÞ
> Pr P r 0 0  
> Dk0 ðhÞ ¼
> h h þ w  ðkÞ D0 ðhÞPðhÞD0 ðhÞ þ 2D0 ðhÞPðhÞDk ðhÞ þ DTk ðhÞPðhÞDk ðhÞ
T T T
>
>
i j
0 Bci D2j 
>
: þ i¼1 j¼1 wðkÞ  xT ðkÞPðhÞ
xðkÞ j xðkÞg
h , ðh1 ; h2 ; . . .; hr Þ
ð36Þ
then the closed-loop system (19) is stochastically mean-  
E AT0 ðhÞPðhÞA0 ðhÞ
square stable and the prescribed H-infinite performance is ( )
Xr X r X r X r  T  
Ai 0 P1 0 Ak 0 ð37Þ
guaranteed. ¼E
i¼1 j¼1 k¼1 l¼1 0 Aci Ej 0 P2 0 Ack El
Proof Step 1 The closed-loop system (19) is stochastically  
E AT0 ðhÞPðhÞAd0 ðhÞ
mean-square stable. ( )
Xr X r X r X r  T  
Ai 0 P1 0 Adk Acl 0 ð38Þ
Consider the Lyapunov–Krasovskii functional ¼E
i¼1 j¼1 k¼1 l¼1 0 Aci Ej 0 P2 0 0
V ðkÞ ¼ V1 ðkÞ þ V2 ðkÞ þ V3 ðkÞ þ V4 ðkÞ þ V5 ðkÞ ð28Þ  
8 E AT0 ðhÞPðhÞB0 ðhÞ
> V1 ðkÞ ¼ xT ðkÞPðhÞ xðkÞ ( )
> Xr X r X r X r  T  
>
> kP
1 ¼E
Ai 0 P1 0 0 bBk Ccl
>
>
>
> V2 ð k Þ ¼ xT ðsÞQðhÞ xðsÞ i¼1 j¼1 k¼1 l¼1 0 Aci Ej 0 P2 aBck Cl 0
>
>
>
> s¼kd ðkÞ
ð39Þ
>
>
< V3 ðkÞ ¼ P P xT ðsÞQðhÞ
> kd1 1
xðsÞ  
E AT0 ðhÞPðhÞBk ðhÞ
t¼kd2 þ1 s¼t ð29Þ ( " #)
> Xr X r X r X r  T 
>
> kP
1 Ai 0 P1 0 0 b~ðkÞBk Ccl
>
> V ð k Þ ¼ xT ðsÞRðhÞ x ðsÞ ¼E
>
> 4 i¼1 j¼1 k¼1 l¼1
0 Aci Ej 0 P2 a~ðkÞBck Cl 0
>
> s¼ksðkÞ
>
> ¼0
>
> P1 P
ks 1
>
> xT ðsÞRðhÞ
: V5 ð k Þ ¼ x ðsÞ ð40Þ
t¼ks2 þ1 s¼t
 
E AT0 ðhÞPðhÞD0 ðhÞ ¼ E
Take the forward difference of (28) along (19) (     )
Xr X r Xr Xr
Ai 0 T P1 0 D1k 0 ð41Þ
V ðk þ 1Þ  V ðkÞ ¼ DV ðkÞ i¼1 j¼1 k¼1 l¼1 0 Aci Ej 0 P2 0 aBck D2l
 
¼ DV1 ðkÞ þ DV2 ðkÞ þ DV3 ðkÞ þ DV4 ðkÞ þ DV5 ðkÞ E AT0 ðhÞPðhÞDk ðhÞ ¼ E
( )
r    
ð30Þ Xr X r Xr X
Ai 0 T P1 0 0 0
¼0
0 Aci Ej 0 P2 0 a~ðkÞBck D2l
DV1 ðkÞ ¼ V1 ðk þ 1Þ  V1 ðkÞ ð31Þ i¼1 j¼1 k¼1 l¼1

ð42Þ
DV2 ðkÞ ¼ V2 ðk þ 1Þ  V2 ðkÞ ð32Þ  
E ATd0 ðhÞPðhÞAd0 ðhÞ
DV3 ðkÞ ¼ V3 ðk þ 1Þ  V3 ðkÞ ð33Þ (
r  T   )
X r X r X r X
Adi Acj 0 P1 0 Adk Acl 0 ð43Þ
¼E
DV4 ðkÞ ¼ V4 ðk þ 1Þ  V4 ðkÞ ð34Þ i¼1 j¼1 k¼1 l¼1 0 0 0 P2 0 0

DV5 ðkÞ ¼ V5 ðk þ 1Þ  V5 ðkÞ ð35Þ  

E ATd0 ðhÞPðhÞB0 ðhÞ
( )
X r X r X r X r  T  
Take the mathematical expectation of (31) along (19) Adi Acj 0 P1 0 0 bBk Ccl
¼E
i¼1 j¼1 k¼1 l¼1 0 0 0 P2 aBck Cl 0
EfDV1 ðkÞj xðkÞg
¼ EfðV1 ðk þ 1Þ  V1 ðkÞÞj xðkÞg ð44Þ
    
¼ E xT ðk þ 1ÞPðhÞ
xðk þ 1Þ  xT ðkÞPðhÞ xðkÞ xðkÞ E ATd0 ðhÞPðhÞBk ðhÞ
 T ( " #)
¼ E x ðkÞAT0 ðhÞPðhÞA0 ðhÞ xT ðkÞAT0 ðhÞPðhÞAd0 ðhÞ
xðkÞ þ 2 xðk  d ðkÞÞ r X
X r X r 
r X T 
Adi Acj 0 P1 0 0 b~ðkÞBk Ccl
¼E
xT ðkÞAT0 ðhÞPðhÞB0 ðhÞ
þ2 xðk  sðkÞÞ i¼1 j¼1 k¼1 l¼1 0 0 0 P2 a~ðkÞBck Cl 0
T
þ x ðk  dðkÞÞATd0 ðhÞPðhÞAd0 ðhÞ
xðk  d ðkÞÞ þ 2T
x ðk  d ðkÞÞ ¼0
ATd0 ðhÞPðhÞB0 ðhÞ
xðk  sðkÞÞ
ð45Þ
þ 2xT ðk  d ðkÞÞATd0 ðhÞPðhÞBk ðhÞ
xðk  sðkÞÞ  
  E ATd0 ðhÞPðhÞD0 ðhÞ ¼ E
x ðk  d ðkÞÞ ATd0 ðhÞPðhÞD0 ðhÞ þ ATd0 ðhÞPðhÞDk ðhÞ w
þ 2T
ðk Þ (
Xr X r Xr X r     )
xT ðkÞAT0 ðhÞPðhÞBk ðhÞ
þ 2 xðk  sðkÞÞ Adi Acj 0 T P1 0 D1k 0 ð46Þ
i¼1 j¼1 k¼1 l¼1 0 0 0 P2 0 aBck D2l

123
 Neural Computing and Applications

  (
E ATd0 ðhÞPðhÞDk ðhÞ ¼ E
( )   r X
X r X
r X
r
r    
Xr X r Xr X
Adi Acj 0 T P1 0 0 0 E BTk ðhÞPðhÞDk ðhÞ ¼E
¼0
0 0 0 P2 0 a~ðkÞBck D2l i¼1 j¼1 k¼1 l¼1
i¼1 j¼1 k¼1 l¼1
" #T   )
ð47Þ 0 b~ðkÞBi Ccj P1 0 0 0
  0 P2 0 a~ðkÞBck D2l
E BT0 ðhÞPðhÞB0 ðhÞ ¼ E a~ðkÞBci Cj 0
( ) ( )
r  r 
Xr X r Xr X T  
0 bBi Ccj P1 0 0 bBk Ccl X r X r X r X
0 a~2 ðkÞCiT BTcj P2 Bck D2l
i¼1 j¼1 k¼1 l¼1 aBci Cj 0 0 P2 aBck Cl 0 ¼E
i¼1 j¼1 k¼1 l¼1 0 0
ð48Þ 8 2 3T
  X r X r X r X r < b0
E BT0 ðhÞPðhÞBk ðhÞ ¼ E 0 Bi Ccj 5
( ¼ a20 4 a0
r X
X r Xr Xr  T  " #) :
0 bBi Ccj P1 0 0 b~ðkÞBk Ccl i¼1 j¼1 k¼1 l¼1 Bci Cj 0
i¼1 j¼1 k¼1 l¼1
aBci Cj 0 0 P2 a~ðkÞBck Cl 0   )
P1 0 0 0
¼0 ¼ a20 BTk0 ðhÞPðhÞDk0 ðhÞ
0 P2 0 Bck D2l
ð49Þ
  ð54Þ
E BTk ðhÞPðhÞBk ðhÞ
¼E (
8 " #T " # r X
X r X
r X
r
<X  
r X r X r X r 0 b~ðkÞBi Ccj P1 0 E DT0 ðhÞPðhÞD0 ðhÞ ¼ E
: i¼1 j¼1 k¼1 l¼1 a~ðkÞBci Cj 0 0 P2 i¼1 j¼1 k¼1 l¼1
" #)
 T   ) ð55Þ
0 b~ðkÞBk Ccl D1i 0 P1 0 D1k 0
0 aBci D2j 0 P2 0 aBck D2l
a~ðkÞBck Cl 0
8 2 39 (
<X r X r Xr X r a~2 ðkÞCiT BTcj P2 Bck Cl 0 =   Xr X r X r X
r
¼E 4 5 E DT0 ðhÞPðhÞDk ðhÞ ¼ E
: i¼1 j¼1 k¼1 l¼1 0 b~ ðkÞCciT BTj P1 Bk Ccl ;
2
i¼1 j¼1 k¼1 l¼1
8 2 3T
" #  T   )
Xr X r Xr X r >< 0
b0
B C P1 0 D1i 0 P1 0 0
26 a0
i cj 7 ¼0 ð56Þ
¼ a0 4 5
>
i¼1 j¼1 k¼1 l¼1 : 0 P2 0 aBci D2j 0 P2 a~ðkÞBck D2l
Bci Cj 0
2 39 (
0
b0
Bk Ccl =   Xr Xr X
r X r
4 a0 5 ¼ a2 BT ðhÞPðhÞBk0 ðhÞ
0 k0
E DTk ðhÞPðhÞDk ðhÞ ¼ E
; i¼1 j¼1 k¼1 l¼1
Bck Cl 0
 T 
 )
ð50Þ 0 0 P1 0 0 0
(
 T  X
r X
r X r 
r X T   0 a~ðkÞBci D2j 0 P2 0 a~ðkÞBck D2l
0 bBi Ccj P1 0
E B0 ðhÞPðhÞD0 ðhÞ ¼ E ( " #)
i¼1 j¼1 k¼1 l¼1
aBci Cj 0 0 P2 Xr X r X r X r 0 0
 ) ¼E
D1k 0
i¼1 j¼1 k¼1 l¼1
0 a~2 ðkÞDT2i BTcj P2 Bck D2l
0 aBck D2l
¼ a20 DTk0 ðhÞPðhÞDk0 ðhÞ
ð51Þ
( ð57Þ
  X
r X
r X
r X
r
E BT0 ðhÞPðhÞDk ðhÞ ¼ E Taking the mathematical expectation of (32) along (19)
i¼1 j¼1 k¼1 l¼1
 T   ) ð52Þ results in
0 bBi Ccj P1 0 0 0
¼0
aBci Cj 0 0 P2 0 a~ðkÞBck D2l EfDV2 ðkÞj
xðkÞg ¼ EfðV2 ðk þ 1Þ  V2 ðkÞÞjx ðk Þg
  (
E BTk ðhÞPðhÞD0 ðhÞ 
( " #T   E xT ðkÞQðhÞxðkÞ  xT ðk  d ðkÞÞQðhÞ
x ðk  d ðk ÞÞ
Xr X r Xr X 
r
0 b~ðkÞBi Ccj P1 0 ! )
¼E X1
kd
a~ðkÞBci Cj 0 0 P2
i¼1 j¼1 k¼1 l¼1 þ xT ðsÞQðhÞ
xðsÞ xðkÞ
 ) s¼kd2 þ1
D1k 0
¼0 ð53Þ ð58Þ
0 aBck D2l
Along (19)

123
Neural Computing and Applications

EfDV3 ðkÞj
xðkÞg ¼ EfðV3 ðk þ 1Þ  V3 ðkÞÞj
x ðk Þg EfDV ðkÞg  0 ð65Þ
( !
X1
kd
Let
T T
¼E ðd2  d1 Þ
x ðkÞQðhÞ
x ðk Þ  x ðsÞQðhÞ
x ðsÞ
2
)
s¼kd2 þ1 U , AT0 ðhÞPðhþ ÞA0 ðhÞ þ ðhþ Þ ATd0 ðhÞPðhþ ÞAd0 ðhÞ  PðhÞ
ð66Þ
xðkÞ
j
xT ðkÞ
EfV ðk þ 1Þ j xðkÞg  Vk   kðUÞ x ðk Þ ð67Þ
ð59Þ
Along (19) and summing up the inequality on both sides
EfDV4 ðkÞj
xðkÞg ¼ EfðV4 ðk þ 1Þ  V4 ðkÞÞjx ðk Þg with k ¼ 0; 1; . . . ; T, we get
(
 n o
 E xT ðkÞRðhÞxðkÞ  xT ðk  sðkÞÞRðhÞ
x ðk  s ðk ÞÞ EfV ðT þ 1Þg  V ð0Þ   kðUÞE kxðkÞk2 ð68Þ
ð60Þ
! ) n o
X1
ks
þ xT ðsÞRðhÞ
x ðsÞ xðkÞ E kxðkÞk2  ðkðUÞÞ1 ðV ð0Þ  EfV ðT þ 1ÞgÞ ð69Þ
s¼ks2 þ1
Considering EfV ðkÞg  0 for any k  0 yields
EfDV5 ðkÞ j xðkÞg ¼ EfðV5 ðk þ 1Þ  V5 ðkÞÞ j xðkÞg ( )
( X
þ1

¼ E ðs2  s1 Þ xT ðkÞRðhÞ
x ðk Þ E kxðkÞk xð0Þ  ðkðUÞÞ1 xT ð0ÞmaxðPðhÞÞ
2
x ð 0Þ
ð61Þ k¼0
! )
X1
ks
¼ xT ð0ÞðkðUÞÞ1 maxðPðhÞÞ
x ð 0Þ
 xT ðsÞRðhÞ
x ðsÞ xðkÞ
s¼ks2 þ1 ¼ xT ð0ÞH xð0Þ
Let ð70Þ

8 2 3
> ðd2  d1 þ 1ÞQðhÞ þ ðs2  s1 þ 1ÞRðhÞ  PðhÞ 0 0
>
>
< P~ðhÞ ¼ 4
> 0 QðhÞ 0 5
0 0 RðhÞ ð62Þ
>
> T
>
> g~ðkÞ ¼ xT ðkÞ xT ðk  d ðkÞÞ xT ðk  sðkÞÞ
:
A~ðhÞ ¼ ½ A0 ðhÞ Ad0 ðhÞ B0 ðhÞ ; B~ðhÞ ¼ ½ 0 0 a0 Bk0 ðhÞ 

where P~ðhÞ, A~ðhÞ and B~ðhÞ are the fuzzy-basis-dependent where xð0Þ is the initial condition and
matrices such that
H , ðkðUÞÞ1 maxðPðhÞÞ ð71Þ
A~T ðhÞPðhÞA~ðhÞ þ B~T ðhÞPðhÞB~ðhÞ þ P~ðhÞ  0 ð63Þ
The proof in Step 1 is completed.
From (36) and (58)–(62), Step 2 The closed-loop system (19) is stochastically
mean-square stable, and the prescribed H-infinity perfor-
EfDV ðkÞ j xðkÞg ¼ EfðDV1 ðkÞ þ DV2 ðkÞ þ DV3 ðkÞ
mance is guaranteed.
þDV4 ðkÞ þ DV5 ðkÞÞ j xðkÞg
For the closed-loop system (19), consider the H-infinite
 xT ðkÞAT0 ðhÞPðhÞA0 ðhÞ xT ðkÞAT0 ðhÞPðhÞAd0 ðhÞ
xðkÞ þ 2 xðk  dðkÞÞ
performance function as follows:
xðkÞAT0 ðhÞPðhÞB0 ðhÞ
þ 2 xðk  sðkÞÞ ( )
þ xT ðk  dðkÞÞATd0 ðhÞPðhÞAd0 ðhÞ
xðk  d ðkÞÞ X n  
T 2 T
J ð nÞ ¼ E z ðkÞzðkÞ  c w
 ðk Þw
ðkÞ ; wðkÞ 6¼ 0
xðk  dðkÞÞATd0 ðhÞPðhÞB0 ðhÞ
þ 2 xðk  sðkÞÞ
  k¼0
þ xT ðk  sðkÞÞ BT0 ðhÞPðhÞB0 ðhÞ þ a20 BTk0 ðhÞPðhÞBk0 ðhÞ xðk  sðkÞÞ
ð72Þ
 xT ðkÞPðhÞ
xðkÞ
xT ðkÞQðhÞ
þ ðd2  d1 þ 1Þ xT ðkÞRðhÞ
xðkÞ þ ðs2  s2 þ 1Þ xðkÞ where n  0 is an integer scalar.
 xT ðk  dðkÞÞQðhÞ
xðk  dðkÞÞ  xT ðk  sðkÞÞRðhÞ
xðk  sðkÞÞ
 T 
T ~ ~ ~T ~ ~
¼ g~ ðkÞ A ðhÞPðhÞAðhÞ þ B ðhÞPðhÞBðhÞ þ PðhÞ g~ðkÞ
ð64Þ
and

123
 Neural Computing and Applications

From (29), (36) and (58)–(61), we get stochastically mean-square stable; then, let n ! þ1 in
( ) (72)
X
n  
J ðnÞ ¼ E zT ðkÞzðkÞ  c2 w
T ðkÞw
ðkÞ ( ) ( )
k¼0 X
þ1   X
þ1  
( ) E T 2
z ðkÞzðkÞ  c E T
 ðkÞw
w  ðk Þ ;
X
n  
¼E zT ðkÞzðkÞ  c2 w
T ðkÞw
ðkÞ þ DV ðkÞ  V ðn þ 1Þ k¼0 k¼0
ð76Þ
(
k¼0
wðkÞ 6¼ 0
X
n
E ðA0 ðhÞ
xðkÞ þ Ad0 ðhÞ
xðk  d ðkÞÞ þ ðB0 ðhÞ þ Bk ðhÞÞ
xðk  sðkÞÞ
k¼0
From (76), it is easy to verify that
þðD0 ðhÞ þ Dk ðhÞÞw
ðkÞÞ P T ( )
X
n  
T 2 T
ðA0 ðhÞ
xðkÞ þ Ad0 ðhÞ
xðk  d ðkÞÞ þ ðB0 ðhÞ þ Bk ðhÞÞ
xðk  sðkÞÞ J ð nÞ ¼ E z ðkÞzðkÞ  c w ðkÞ  0;
 ðk Þw
T

k¼0
ð77Þ
þðD0 ðhÞ þ Dk ðhÞÞw
ðkÞÞ  x ðkÞPðhÞxðkÞ xðkÞ
n wðkÞ 6¼ 0
þ E ðE0 ðhÞ xðkÞ þ F0 ðhÞ ðkÞÞT ðE0 ðhÞ
xðk  d ðkÞÞ þ D30 ðhÞw xðkÞ
þF0 ðhÞ
xðk  dðkÞÞ þ D30 ðhÞw
ðkÞÞ j xðkÞg The proof in Step 2 is completed.
 c2 w
T ðkÞw xT ðkÞQðhÞ
ðkÞ þ ðd2  d1 þ 1Þ xðkÞ
Remark 8 The closed-loop system (19) is stochastically
xT ðkÞRðhÞ
þ ðs2  s1 þ 1Þ xð k Þ mean-square stable, and the prescribed H-infinity perfor-
 xT ðk  d ðkÞÞQðhÞ
xðk  d ðkÞÞ  xT ðk  sðkÞÞRðhÞ
xðk  sðkÞÞ mance is guaranteed by employing the delay-dependent
ð73Þ Lyapunov–Krasovskii functional, stochastic system theory
and Bernoulli probability distribution. Besides, from the
Let
proof in Theorem 1, it can be seen that the stability con-

8 2 3
>
> ðd2  d1 þ 1ÞQðhÞ þ ðs2  s2 þ 1ÞRðhÞ  PðhÞ 0 0 0
>
> 6 0 QðhÞ 0 0 7
>
< P^ðhÞ ¼ 6
>
4 0 0 RðhÞ 0 5
7
ð74Þ
>
> 0 0 0 c2 I
>
> T 
> T T T T
: gðkÞ ¼ x ðkÞ x ðk  dðkÞÞ x ðk  sðkÞÞ w ðkÞ ; AðhÞ ¼ ½ A0 ðhÞ Ad0 ðhÞ B0 ðhÞ D0 ðhÞ 
>
BðhÞ ¼ ½ 0 0 a0 Bk0 ðhÞ a0 Dk0 ðhÞ ; EðhÞ ¼ ½ E0 ðhÞ F0 ðhÞ 0 D30 ðhÞ 

X
n   ditions are derived by employing the Schur complement.
J ðnÞ  xT ðkÞ AT0 ðhÞPðhÞA0 ðhÞ þ E0T ðhÞE0 ðhÞ  
P1 0
k¼0
Moreover, from ¼ PðhÞ [ 0, it can be seen that
PðhÞ þ ðd2  d1 þ 1ÞQðhÞ þ ðs2  s1 þ 1ÞRðhÞÞ xðkÞ 0 P2
 T 
T T
þ x ðkÞ 2A0 ðhÞPðhÞAd0 ðhÞ þ 2E0 ðhÞF0 ðhÞ xðk  d ðkÞÞ the matrix PðhÞ in the Lyapunov–Krasovskii functional
þ 2xT ðkÞAT0 ðhÞPðhÞB0 ðhÞ
xðk  sðkÞÞ (29) is a block-diagonal positive-definite matrix and plays

þ xT ðk  d ðkÞÞ ATd0 ðhÞPðhÞAd0 ðhÞ the significant role in the proof process, because the

þF0T ðhÞF0 ðhÞ  QðhÞ xðk  d ðkÞÞ computation complexity is reduced when computing the
þ 2 xT ðk  d ðkÞÞATd0 ðhÞPðhÞB0 ðhÞ
xðk  sðkÞÞ products of the stochastic matrices, such as
 T
T
þ x ðk  sðkÞÞ B0 ðhÞPðhÞB0 ðhÞ AT0 ðhÞPðhÞBk ðhÞ, BTk ðhÞPðhÞBk ðhÞ, BTk ðhÞPðhÞDk ðhÞ in (36),

þa20 BTk0 ðhÞPðhÞBk0 ðhÞ  RðhÞ xðk  sðkÞÞ ð75Þ and so on.
 
þ xT ðkÞ 2AT0 ðhÞPðhÞD0 ðhÞ þ 2E0T ðhÞD30 ðhÞ w ðkÞ
  4.2 Controller gain matrices
þ xT ðk  d ðkÞÞ 2ATd0 ðhÞPðhÞD0 ðhÞ þ 2F0T ðhÞD30 ðhÞ w ðkÞ

þ xT ðk  sðkÞÞ 2BT0 ðhÞPðhÞD0 ðhÞ
 Theorem 2 For the given H-infinity performance index
þ2a20 BTk0 ðhÞPðhÞDk0 ðhÞ w ðkÞ
 c [ 0, if there exist the fuzzy-basis-dependent matrices
þw T ðkÞ DT0 ðhÞPðhÞD0 ðhÞ þ a20 DTk0 ðhÞPðhÞDk0 ðhÞ
  PðhÞ [ 0, QðhÞ [ 0, RðhÞ [ 0 and the matrices P1 [ 0,
þDT30 ðhÞD30 ðhÞ  c2 I w ðkÞ
X
n  P2 [ 0, X1 , X2 , X11 , X12 , Y, W1 , W2 with appropriate
¼ gT ðkÞ AT ðhÞPðhÞAðhÞ þ BT ðhÞPðhÞBðhÞ þ ET ðhÞEðhÞ dimensions such that
k¼0

þP^ðhÞ gðkÞ

From the proof in Step 1, the closed-loop system (19) is

123
Neural Computing and Applications

2 3
 T ðhÞ BT ðhÞ
P^ðhÞ A E^T ðhÞ Thus, multiplying diagT f I; I; I; I; I; I;
6 7
6 PðhÞ 0 7 I; XT1 ; XT2 ; XT1 ;XT2 ; I; I g and
^ ðhÞ ¼ 6 
H
0 70 ð78Þ
6  7 diagf I; I; I; I; I; I; I; XT1 ; XT2 ;
4   PðhÞ 0 5
   I XT1 ;XT2 ; I; I g to the pre- and post- inequality (25), one
has
with 2 3
8 2 3 P^ðhÞ A  0T ðhÞ B0T ðhÞ E^T ðhÞ
> ðd2  d1 þ 1ÞQðhÞ þ ðs2  s1 þ 1ÞRðhÞ  PðhÞ 0 0 0
>
>
> 6 7 6 _ 7
>
>
>
^
> PðhÞ ¼ 4
> 6 0
0
Q
0
ðh Þ 0
RðhÞ
0
0 5
7
H~ ð hÞ ¼ 6
6  P 0
_
0 77 ð85Þ
> 4 
>
>
>
>
>  0  0 0 c2
I  P 0 5
>
>
>A
>
>
 ðhÞ ¼ X1 Ai 0 X1 Adi 0 0 bBi Y X1 D1i    I
>
< 0 W 1 0 0 aW C
2 i 0 aW D
  2 2i
0 0 0 0 0 a0 Bi Y 0
>
> BðhÞ ¼ where
>
>
>  0 0 0 0 a0TW2 Ci 0 a0 W2 D2i
>
>
> P1  X1 Ai  X1 Ai 0 8  
> 
>
>
>
P ð hÞ ¼
0 P2  X2 Bi  XT2 Bi >
>
>A  0 ðhÞ ¼ X1 Ai 0 X1 Adi 0 0 bX1 Bi Ccj X1 D1i
> > X2 Aci 0 aX2 Bci Cj aX
>^
>
>
> E ðh Þ
 ¼ ½ E i  0 F i 0 0 0 D3i 0  >
>
<  0 0 0  2 Bci D2j
>
> 0 0 0 0 0 0 a0 X1 Bi Ccj 0
>
> In 0 B ðhÞ ¼ :
:I ¼
0 In >
>  0 0 0 0 a0 X2 BciCj 0 a0 X2 Bci D2j
>
> 1
>
: P ¼ X1 P1 X1
> 0
_
ð79Þ X2 P1
0 2 X2

ð86Þ

where
8 Next, according to Lemma 1 and considering (82), let
T
>
> Bi ¼ ½ U1 U2  M T 0 V  
>
> X11 0
>
> X1 ¼ U1X11 U1 þU2 X12 U2T
T
X1 ¼ ½ U1 U2  ½ U 1 U 2 T ð87Þ
>
> 0 X12
>
> P1 0
>
< Pð h Þ ¼
0 P2 1
X 1 Bi ¼ Bi X ð88Þ
 ð80Þ
>
> Q1 Q2
>
> Q¼ where
>
>
>
>   Q3
>
> R1 R2  1 ¼ V 1 M 1 X11 MV
X ð89Þ
>
:R ¼
 R3
Further,
Then, there exists the T–S fuzzy dynamic output feedback 8
<Y ¼ X  1 Cci
controller (11). Further, the controller gain matrices Aci ,
W ¼ X2 Bci ð90Þ
Bci and Cci are : 1
8 W2 ¼ X2 Aci
< Aci ¼ X12 W1
Bci ¼ X1 ð81Þ From (96–90), it is easy to verify that the controller gain
: 2 W2
Cci ¼ V 1 M 1 X1 matrices Aci , Bci and Cci are
11 MVY
8
where X1 , X2 are the slack matrices, and X1 is defined < Aci ¼ X1
2 W2
based on Lemma 1 Bci ¼ X1
2 W1 ð91Þ
: 1 Y
Cci ¼ X 1
X1 ¼ U  diagfX11 ; X12 gU T ð82Þ
The proof in Theorem 2 is completed.
in which X11 and X12 are the real matrices with appro-
Remark 9 From Theorem 2, it can be seen that the con-
priate dimensions.
troller gain matrices Aci , Bci and Cci are determined in (81)
Proof From the sufficient conditions P1 [ 0 and P2 [ 0 in based on the stability conditions in Theorem 1. Besides,
Theorem 2, from the proof in Theorem 2, it can be seen that the sin-
 T gular values decomposition of Bi is used to compute the
ðP1  X1 ÞP1
1 ð P1  X 1 Þ  0 ð83Þ products of the stochastic matrices, such as bX1 Bi Ccj in
ðP2  X2 ÞP2 ðP2  X2 ÞT  0
1
(86). Moreover, it can be seen that the slack matrices X1 ,
and it is easy to verify that inequalities (83) can be XT1 , X2 and XT2 are introduced via the appropriate weight-
rewritten as ing method in Theorem 2. Then, the computation com-
 T
 T
 plexity is reduced when computing the products of the
X1 P11 X1  P1  X1 þ X1 
ð84Þ stochastic matrices, such as X1 P1 1
X2 P1 T T 1 X1 and X2 P2 X2 in
2 X2  P2  X2 þ X2

123
 Neural Computing and Applications

   
(86). Thus, the products of the stochastic matrices such as 1 1 0:50 1:20
F1 ¼ , F2 ¼ . The membership
X1 P1 1
1 X1 and X2 P2 X2 in (86) are computed effec- 0:10 0:80 1 0:36
tively. This means the computation complexity of solving functions are given as
LMIs is reduced by introducing the slack matrices via the 
0:32 0:32
appropriate weighting method, i.e., the stability conditions h1 ð x ð k Þ Þ ¼ ; h2 ð x ð k Þ Þ ¼ 1 
1 þ eðxþ1Þ 1 þ eðxþ1Þ
in terms of LMIs can be solved effectively by using the
LMIs toolbox. ð95Þ
The controller is designed as
8
> Pr
5 Simulations >
< x~ðk þ 1Þ ¼ hi ðhðkÞÞðAci x~ðkÞ þ Bci yðkÞÞ
i¼1
P
r ð96Þ
5.1 Example 1 >
>
: uð k Þ ¼ hi ðhðkÞÞðbðkÞCci x~ðk  sðkÞÞÞ; r¼2
i¼1

Consider the two-dimensional discrete networked control Ac1 , Ac2 , Bc1 , Bc2 , Cc1 and Cc2 in (96) are solved as fol-
system in the form of (7)  
8 0:3519 0:0106
lows:Ac1 ¼ ,
< xðk þ 1Þ ¼ Ai xðkÞ þ Adi xðk  dðkÞÞ þ Bi uðkÞ þ D1i wðkÞ 0:0005 0:3307
 
yðkÞ ¼ aðkÞCi xðk  sðkÞÞ þ aðkÞD2i wðk  sðkÞÞ 0:6522 1:0653
: Ac2 ¼ ,
zðkÞ ¼ Ei xðkÞ þ Fi xðk  d ðkÞÞ þ D3i wðkÞ 0:9146 1:9022
 
ð92Þ 0:1841 0:3863
Bc1 ¼ ,
0:2589 0:8019
The overall T–S fuzzy two-dimensional discrete networked  
1:1420 1:1932
control system is described as Bc2 ¼ , Cc1 ¼ 0:7751,
8
1:0908 0:5608
> P r
>
> xð k þ 1 Þ ¼ hi ðxðkÞÞðAi xðkÞ þ Adi xðk  dðkÞÞ þ Bi uðkÞ þ D1i wðkÞÞ Cc2 ¼ 0:6169. The membership functions are given as
>
>
>
< i¼1 
Pr
sinðhðkÞÞ
yð k Þ ¼ hi ðxðkÞÞðaðkÞCi xðk  sðkÞÞ þ aðkÞD2i wðk  sðkÞÞÞ h1 ðhðkÞÞ ¼ 1  ; h2 ðhðkÞÞ ¼ 1  h1 ðhðkÞÞ; 0  hðkÞ  p
>
> i¼1 3
>
> Pr
>
>
: zðkÞ ¼ hi ðxðkÞÞðEi xðkÞ þ Fi xðk  d ðkÞÞ þ D3i wðkÞÞ; r ¼ 2 ð97Þ
i¼1

ð93Þ Initial values of the state variables are

T
Fuzzy rule 1 : if x1 ðkÞ is h1 ðx1 ðkÞÞ; then xð0Þ ¼ ½ 4:75 3:50  , the external disturbance is
8
8 < 0:15 sinðkÞ; 0  k\6
< xðk þ 1Þ ¼ A1 xðkÞ þ Ad1 xðk  dðkÞÞ þ B1 uðkÞ þ D11 wðkÞ
> wðkÞ ¼ 0:22 sinðkÞ; 6  k  10 , the Bernoulli proba-
yðkÞ ¼ aðkÞC1 xðk  sðkÞÞ þ aðkÞD21 wðk  sðkÞÞ :
> 0; else
:
zðkÞ ¼ E1 xðkÞ þ F1 xðk  dðkÞÞ þ D31 wðkÞ bility distribution of the packet dropouts from sensor to the
Fuzzy rule 2 : if x1 ðkÞ is h2 ðx1 ðkÞÞ; then controller is 0.05, the Bernoulli probability distribution of
8 the packet dropouts from controller to the actuator is 0.15
< xðk þ 1Þ ¼ A2 xðkÞ þ Ad2 xðk  dðkÞÞ þ B2 uðkÞ þ D12 wðkÞ
>
and the given H-infinity performance index is c ¼ 1:6686.
yðkÞ ¼ aðkÞC2 xðk  sðkÞÞ þ aðkÞD22 wðk  sðkÞÞ The responses of state variables x1 and x2 are shown in
>
:
zðkÞ ¼ E2 xðkÞ þ F2 xðk  dðkÞÞ þ D32 wðkÞ Fig. 2. The responses of state variables x1 and x2 are shown
ð94Þ in Fig. 3. The responses of the control inputs are shown in
    Fig. 4. The response of
0:30 0:30 0:20 0:40 qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
Pþ1 P
where A1 ¼ , A2 ¼ , T þ1 T
0:10 0:25 0:10 0:10 k¼0 E fz ðkÞzðkÞg k¼0 E fw ðkÞwðk Þg is shown in
   
0:05 0:02 0:10 0:15 Fig. 5. It can be seen that the proposed methods are
Ad1 ¼ , Ad2 ¼ , effective. From Fig. 4, the control inputs are bounded.
0:20 0:10 0:20 0:10
      From Figs. 3 and 4, it can be seen that the convergence
1 0 1 0 0:15 0:38
B1 ¼ , B2 ¼ , C1 ¼ , rates of the state variables and control inputs are fast, i.e.,
0:20 1 0:80 1 0:50 0:90
    the two-dimensional discrete networked control system is
0:80 0:35 0:10
C2 ¼ , D11 ¼ D12 ¼ , stabilized quickly. From Fig. 5, the response of
0:45 1:20 0 qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
      Pþ1 T
Pþ1 T
1 0:15 0:30 k¼0 E fz ðkÞzðkÞg k¼0 E fw ðkÞwðk Þg is smaller
D21 ¼ D22 ¼ , D31 ¼ , D32 ¼ ,
0 0 0:20 than c ¼ 1:6686.
   
0:20 0:10 0:60 0:25
E1 ¼ , E2 ¼ ,
0:15 0 0:50 0:10

123
Neural Computing and Applications

2 3
5.2 Example 2 tt
6 1  a 0 7
6 tt L 7
Consider the discrete truck–trailer system [61, 62] with 6 1 07
¼6 7, Ad1 ¼
networked control 6 L2 7
4 ðttÞ 5
8  tt tt j2 ttj2 1
>
> x ð k þ 1 Þ ¼ 1  x 1 ð k Þ þ uð k Þ 2 2L 3
>
>
1
L l 0:6072 0:9208 0:7516
< tt
x2 ðk þ 1Þ ¼ x1 ðkÞ þ x2 ðkÞ þ 0:2xðkÞ : 4 0:3209 1:0777 0:8701 5, Ad2 ¼
>
> L
> 0:9771 1:7875 0:6017
: x3 ðk þ 1Þ ¼ x3 ðkÞ þ tt sinHðkÞ þ 0:1xðkÞ
> 2 3 2 3
tt
yðkÞ ¼ CxðkÞzðkÞ ¼ 0:05x1 ðkÞ þ 0:02x2 ðkÞ þ 0:5uðkÞ 0:4591 0:3148 0:1998
4 1:5991 2:4625 0:5402 5, 6l7
ð98Þ B1 ¼ 4 0 5 ,
0:6827 0:5123 1:3596 0
with 2 3 2 3
tt
tt 0 1 3:6
6 7
# ðk Þ ¼ x2 ðk Þ þ x1 ðk Þ ð99Þ B2 ¼ 4 b lþ 6 5, C1 ¼ 41 0 1 5,
2L
0 0 2:5 1:6
where t ¼ 1, t ¼ 2, L ¼ 5:5, l ¼ 2:8 and C is a real 2 3 2 3
1 0 3 0 0
matrix with appropriate dimension [61, 62].
C2 ¼4 0 1 2 5, D11 ¼4 0:2 0 5, D12 ¼
Via the similar methods in [61, 62], system (98) is
1 2 3 0:1 0
rewritten as 2 3
8 0 0
< xðk þ 1Þ ¼ Ai xðkÞ þ Adi xðk  dðkÞÞ þ Bi uðkÞ þ D1i wðkÞ 4 0:2 0 5, D21 ¼ D22 ¼ 1, D31 ¼ D32 ¼ 0:68,
yðkÞ ¼ aðkÞCi xðk  sðkÞÞ þ aðkÞD2i wðk  sðkÞÞ 0:1 j2 ttp

: 2 3
zðkÞ ¼ Ei xðkÞ þ Fi xðk  d ðkÞÞ þ D3i wðkÞ 0:1161 0:1510 0:1417
ð100Þ E1 ¼ 4 0:8163 1:6882 1:5435 5, E2 ¼
0:0122 1:8405 1:6894
where xðkÞ ¼ ½ x1 ðkÞ x2 ðkÞ x3 ðkÞ T and 2 3
1:1303 0:2119 1:0308
wðkÞ ¼ ½ xðkÞ signð#ðkÞÞ T [62]. 4 1:4700 0:3851 1:2938 5, F1 ¼
Then, the overall T–S fuzzy discrete truck–trailer sys- 1:5579 0:4438 0:3412
tem with networked control is described as 2 3
8
1:3279 0:6743 1:1749
>
>
P r 4 2:7424 0:1365 1:7388 5, F2 ¼
>
> xð k þ 1 Þ ¼ hi ðxðkÞÞðAi xðkÞ þ Adi xðk  dðkÞÞ þ Bi uðkÞ þ D1i wðkÞÞ
>
> i¼1 1:7757 1:1420 0:7355
<
yð k Þ ¼
Pr
hi ðxðkÞÞðaðkÞCi xðk  sðkÞÞ þ aðkÞD2i wðk  sðkÞÞÞ
2 3
>
> i¼1
1:2503 0:5715 0:7147
>
> Pr 4 1:8450 0:9952 0:8865 5 where j1 ¼ 1 and j2 ¼ 0:01
>
>
: zðkÞ ¼ hi ðxðkÞÞðEi xðkÞ þ Fi xðk  d ðkÞÞ þ D3i wðkÞÞ; r ¼ 2 p
i¼1 1:8959 1:0097 0:9356
ð101Þ [62].
The membership functions are given as
Fuzzy rule 1 : if x1 ðkÞ is h1 ðx1 ðkÞÞ; then 8
8 sinð#ðkÞÞ
>
>
< xðk þ 1Þ ¼ A1 xðkÞ þ Ad1 xðk  dðkÞÞ þ B1 uðkÞ þ D11 wðkÞ
> < h1 ðxðkÞÞ ¼
# ðk Þ
yðkÞ ¼ aðkÞC1 xðk  sðkÞÞ þ aðkÞD21 wðk  sðkÞÞ ð103Þ
>
: >
> sinð#ðkÞÞ
zðkÞ ¼ E1 xðkÞ þ F1 xðk  dðkÞÞ þ D31 wðkÞ : h2 ðxðkÞÞ ¼ 1 
# ðk Þ
Fuzzy rule 2 : if x1 ðkÞ is h2 ðx1 ðkÞÞ; then
8 The controller is designed as
< xðk þ 1Þ ¼ A2 xðkÞ þ Ad2 xðk  dðkÞÞ þ B2 uðkÞ þ D12 wðkÞ
> 8
Pr
>
>
yðkÞ ¼ aðkÞC2 xðk  sðkÞÞ þ aðkÞD22 wðk  sðkÞÞ < x~ðk þ 1Þ ¼ hi ðhðkÞÞðAci x~ðkÞ þ Bci yðkÞÞ
>
: i¼1
zðkÞ ¼ E2 xðkÞ þ F2 xðk  dðkÞÞ þ D32 wðkÞ > P
r
>
: uð k Þ ¼ hi ðhðkÞÞðbðkÞCci x~ðk  sðkÞÞÞ; r¼2
ð102Þ i¼1
ð104Þ
2 3
tt The membership functions are given as
6 1 L 0 07
8
6 tt 7
where
6
A1 ¼ 6 1 077, A2 < h1 ðhðkÞÞ ¼ 1  cosðhðkÞÞ
>
6 L2 7 3 ð105Þ
4 ðttÞ 5 > p p
j1 ttj1 1 : h2 ðhðkÞÞ ¼ 1  h1 ðhðkÞÞ;   hðkÞ 
2L 2 2

123
 Neural Computing and Applications

60
x1
50 x2

40

30
x1 and x2

20

10

-10

-20
0 2 4 6 8 10 12 14 16 18 20
Time(s)
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
Pþ1 Pþ1 ffi
Fig. 2 Responses of state variables x1 and x2 T T
Fig. 5 Response of k¼0 E fz ðk Þzðk Þg k¼0 E fw ðk Þwðk Þg

10
x1
8 x2
28
[63]
6 Theorem 2
26

4
x1 and x2

24
2

22
b

20
-2

-4 18
0 2 4 6 8 10 12 14 16 18 20
Time(s)
16
8 9 10 11 12 13 14 15 16 17 18
Fig. 3 Responses of state variables x1 and x2 a

4 Fig. 6 Comparison results of the stability regions in [63] (‘9’) and

u1 Theorem 2 (‘O’)
3 u2

The methods in [63, 64] and Theorem 2 are employed to

2
investigate the sizes of the stability regions. The compar-
Control inputs

1
ison results of the stability regions in [63] (‘’) and The-
orem 2 (‘O’) are shown in Fig. 6. From Fig. 6, there exist
0 the feasible solution regions of the closed-loop system.
Besides, the larger stability regions are obtained by
-1 employing Theorem 2 than [63]. The comparison results of
the stability regions in [64] (‘’) and Theorem 2 (‘O’) are
-2 shown in Fig. 7. From Fig. 7, there exist the feasible
solution regions of the closed-loop system. Besides, the
-3 larger stability regions are obtained by employing Theo-
0 2 4 6 8 10 12 14 16 18 20
Time(s)
rem 2 than [64].
Comparison results of the gain matrices Y, W1 and W2
Fig. 4 Responses of the control inputs by employing Theorem 2 are shown in Table 1.

123
Neural Computing and Applications

28 Comparison results of the upper bounds s2 with different c

[64] for s ¼ 0:25 in [63, 64] and Theorem 2 are shown in
Theorem 2
26 Table 2. Comparison results of the upper bounds s2 with
different c for s ¼ 0:50 in [63, 64] and Theorem 2 are
24 shown in Table 3 (Tables 4, 5). Comparison results of the
time consumption for solving s2 with different c and s ¼
22
0:25 or s ¼ 0:50 in Table 2 are shown in Tables 6 and 7.
b

Data comparison results corresponding to Tables 2 and 3

are shown in Figs. 8 and 9. From Tables 2 and 3 and
20
Figs. 8 and 9, the larger upper bounds s2 are obtained in
Theorem 2 than [63, 64].Comparison results of the lower
18
bounds c with different s2 for s ¼ 0:25 and s ¼ 0:5 in
[63, 64] and Theorem 2 are shown in Tables 4 and 5.
16
8 9 10 11 12 13 14 15 16 17 18
Comparison results of the time consumption for solving c
a with different s2 and s ¼ 0:25 or s ¼ 0:5 in Tables 4 and
5 are shown in Tables 8 and 9. Data comparison results
Fig. 7 Comparison results of the stability regions in [64] (‘9’) and corresponding to Tables 4 and 5 are shown in Figs. 10 and
Theorem 2 (‘O’)

Table 1 Comparison results of

s1 s2 s Y W1 W2
the gain matrices Y1 , W1 and W2
by employing Theorem 2      
0.20 0.50 0.25 1:0118 0:4456 0:7592 1:4260 1:1803 1:5284
0:1561 1:8705 1:6483 1:7271 0:0643 1:6812
     
0.30 0.60 0.50 3:0629 2:5609 2:4434 2:6753 2:3597 2:5418
1:5532 0:4540 2:7279 1:4120 0:6163 0:1146

Table 2 Comparison results of

Methods c
the upper bounds s2 with
different c for s ¼ 0:25 in 1.0 1.1 1.2 1.3 1.4 1.5
[63, 64] and Theorem 2
Hu et al. [63] 1.3410 1.5426 2.4027 2.6138 3.0503 3.4633
Zheng et al. [64] 1.3951 1.5980 2.4581 2.6660 3.1075 3.5112
Theorem 2 1.4266 1.6271 2.4819 2.6922 3.1312 3.5428

Table 3 Comparison results of

Methods c
the upper bounds s2 with
different c for s ¼ 0:50 in 1.0 1.1 1.2 1.3 1.4 1.5
[63, 64] and Theorem 2
Hu et al. [63] 1.1351 1.2180 2.1505 2.3035 2.8610 3.1505
Zheng et al. [64] 1.1776 1.2552 2.1973 2.3404 2.9012 3.1909
Theorem 2 1.1963 1.2751 2.2186 2.3607 2.9220 3.2118

Table 4 Comparison results of

Methods s2
the lower bounds c with
different s2 for s ¼ 0:25 in 0.60 0.65 0.70 0.75 0.80 0.85
[63, 64] and Theorem 2
Hu et al. [63] 0.8072 0.9624 1.0203 1.2759 1.3446 1.3728
Zheng et al. [64] 0.7829 0.9421 1.0073 1.2569 1.3219 1.3564
Theorem 2 0.7704 0.9359 0.9969 1.2476 1.3132 1.3491

123
 Neural Computing and Applications

Table 5 Comparison results of

Methods s2
the lower bounds c with
different s2 for s ¼ 0:50 in 0.60 0.65 0.70 0.75 0.80 0.85
[63, 64] and Theorem 2
Hu et al. [63] 0.9282 1.0957 1.1529 1.2981 1.3656 1.4153
Zheng et al. [64] 0.9130 1.0841 1.1474 1.2880 1.3518 1.4027
Theorem 2 0.9029 1.0717 1.1381 1.2614 1.3331 1.3877

Table 6 Comparison results of the time consumption for solving s2 3.5

with different c and s ¼ 0:25 in Table 2
Methods c Unit 3
1.0 1.1 1.2 1.3 1.4 1.5

Hu et al. [63] 3490 3501 3520 3590 3612 3688 ms 2.5

Zheng et al. [64] 3406 3466 3500 3544 3568 3600 ms

τ2
Theorem 2 3388 3401 3455 3491 3510 3554 ms
2

1.5 [63]
Table 7 Comparison results of the time consumption for solving s2
[64]
with different c and s ¼ 0:50 in Table 3 Theorem 2
Methods c Unit 1
0.9 1.0 1.1 1.2 1.3 1.4 1.5 1.6
1.0 1.1 1.2 1.3 1.4 1.5 γ

Hu et al. [63] 3415 3450 3481 3506 3556 3600 ms Fig. 9 Data comparison results corresponding to Table 3
Zheng et al. [64] 3376 3399 3451 3499 3527 3553 ms
Theorem 2 3300 3310 3322 3355 3390 3418 ms
Table 8 Comparison results of the time consumption for solving c
with different s2 and s ¼ 0:25 in Table 4
Methods s2 Unit
4
0.60 0.65 0.70 0.75 0.80 0.85

3.5 Hu et al. [63] 3302 3355 3406 3469 3505 3542 ms

Zheng et al. [64] 3288 3299 3361 3410 3495 3510 ms
3 Theorem 2 3196 3210 3236 3283 3374 3470 ms

Table 9 Comparison results of the time consumption for solving c

τ2

2.5
with different s2 and s ¼ 0:5 in Table 5

2 Methods s2 Unit
0.60 0.65 0.70 0.75 0.80 0.85
1.5 [63]
[64] Hu et al. [63] 3296 3310 3332 3356 3411 3434 ms
Theorem 2
Zheng et al. [64] 3188 3200 3249 3265 3290 3332 ms
1
0.9 1.0 1.1 1.2 1.3 1.4 1.5 1.6 Theorem 2 3102 3120 3150 3166 3194 3237 ms
γ

Fig. 8 Data comparison results corresponding to Table 2

11. From Tables 4 and 5 and Figs. 10 and 11, the smaller
lower bounds c are obtained in Theorem 2 than [63, 64].
Remark 10 From [57], it can be seen that the time-varying
communication delay sðtÞ ¼ ssc ðtÞ þ sca ðtÞ and multipath
packet dropouts are considered, where ssc ðtÞ is the time-
varying communication delay from sensor to controller and
sca ðtÞ is the time-varying communication delay from con-
troller to actuator. The time-varying communication delay
sðkÞ ¼ ssc ðkÞ ¼ sca ðkÞ and multipath packet dropouts are
considered in this paper, where sðkÞ ¼ ssc ðkÞ is the time-
varying communication delay from sensor to controller and

123
Neural Computing and Applications

1.4 is designed, and the design conditions are relaxed. The

delay-dependent Lyapunov–Krasovskii functional,
1.3
stochastic system theory and Bernoulli probability distri-
bution are introduced, and then the closed-loop system is
1.2
stochastically mean-square stable. The stability conditions
in terms of LMIs are derived in the stability analysis. The
1.1
computation complexity of solving LMIs is reduced. Then,
γ

1
simulation examples are presented to show the effective-
ness and advantages of the proposed methods.
0.9
Acknowledgements This paper is supported by National Natural
[63] Science Foundation of China [Nos. 61473248, 61773333, 61803329]
0.8 [64] and Natural Science Foundation of Hebei Province [Nos.
Theorem 2
F2016203496, F2018203413].
0.7
0.55 0.60 0.65 0.70 0.75 0.80 0.85 0.90
τ2 Compliance with ethical standards
Fig. 10 Data comparison results corresponding to Table 4 Conflict of interest All the authors declare that there is no conflict of
interest for the publication of this paper.
1.5

1.4 Appendix
1.3
Definition 1 [65, 66] For any initial condition and
wðkÞ ¼ 0, if there exists the matrix H with appropriate
1.2
dimension for system (19) such that
( )
γ

1.1 X
þ1
2
E kxðkÞk xð0Þ \ xT ð0ÞH xð0Þ; wðkÞ ¼ 0
1
k¼0

[63] then system (19) is said to be stochastically mean-square

0.9 [64] stable.
Theorem 2
0.8 Definition 2 [67] For the zero initial condition and
0.55 0.60 0.65 0.70 0.75 0.80 0.85 0.90
τ2 wðkÞ 6¼ 0, if system (19) is stochastically mean-square
stable and the control output zðkÞ satisfies
Fig. 11 Data comparison results corresponding to Table 5 X
þ1  X
þ1 
 
E zT ðkÞzðkÞ  c2 E wT ð k Þ w
ð k Þ ; wðkÞ 6¼ 0
sðkÞ ¼ sca ðkÞ is the time-varying communication delay k¼0 k¼0
from controller to actuator. Thus, the stability analysis and then system (19) is said to be stochastically mean-square
controller design will be considered for the discrete net- stable and the prescribed H-infinite performance is
worked control system in the future. guaranteed.
Assumption 1 The matrix Bi 2 Rnm is a column full rank
6 Conclusions matrix, i.e., RankðBi Þ ¼ m.
Lemma 1 [68] For the given matrix Bi 2 Rnm satisfying
The H-infinity stability analysis and delay-dependent T–S
Assumption 1, if there exist the matrices X1 2 Rmm , X2 2
fuzzy dynamic output feedback controller are investigated
in this paper. The T–S fuzzy model is employed to RðnmÞðnmÞ and X with appropriate dimension such that
approximate the discrete networked control system. The X ¼ U  diagfX1 ; X2 gU T
stochastic system theory and Bernoulli probability distri-
then
bution are employed, and the time-varying communication
delay and multipath packet dropouts in the discrete net- 
XBi ¼ Bi X
worked control system are described clearly. The delay-  is a nonsingular matrix.
where X
dependent T–S fuzzy dynamic output feedback controller

123

Lemma 2 [69] For the given matrix S, if there exist the
symmetric matrices Q, R and T with appropriate dimen-
sions such that
8
<T   Q 0
Q S
: ST R  0
then
 
T S
 0:
ST R
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