Compensator Design for linear systems with random delay

Abstract

Network Delay를 추정하여 시스템을 제어하는 방법으로 IMM을 이용한 결합제어기를 제안함 Modern control systems often use a communication network to send measurement and control signals between nodes. Communication delays can be time varying. The length of the time delays is often hard to predict and are modeled as being random. This paper proposes a combined controller used to compensate network time delay by estimating the delay with the interacting multiple model (IMM). The network delay is modeled as a Markov chain and 3 modes representing heavy, medium, and low network loads are used in the IMM. The proposed method is applied to an optimal control system with double integrators and the results are compared with the existing control methods.