Non Linear Network Control Systems

Network Control Systems (NCS) are control systems in which control signals propagate
through a real-time network in the forms of packets. There is extensive use of NCS in tele-
operations, space & terrestrial exploration and online control of components installed in
hazardous environments. NCS is studied by numerous researchers for more than a decade
especially in the field of stability and system control design.

One of the fundamental problems associated with NCS is packet loss and time-delay in the
transfer of control signals. Several techniques have been designed to reduce time-delay e.g.
'Time Forward Observer' by Brand & Tarn[1] and 'Position Based Force Feedback' by Oboe &
Fiorini [1]. These require information regarding remote plant status which is not accurately
know at certain points. Another technique namely 'Wave Variable' by Niemeryer & Slotine [1]
does not significantly reduce time delay. Research into these techniques have built a
foundation for further research in this area. Recently, S. Munir and W. J. Book conducted
research to alleviate the time delay effect [1]. The main focus of their work titled 'Wave
Variable with Prediction' deployed smith predictor, Kalman filter and energy regulators which
performed the tele-operation via the internet, having the master more than 40,000 km away
from the slave. Encouraging results are achieved in [1] with steady state error less than 0.01
rads between master and slave.

Many well established design techniques exist for linear time invariant control systems as a
result of many years of extensive research, e.g. [2]-[7]. These methods, however, cannot be
applied directly to non linear control systems, for which certain modifications are necessary. A
non linear controller has attractive characteristics like simpler implementation, increment in
speed and decrement in control energy [18] but it requires rigorous mathematical analysis to
justify its conclusion. Non linear control theory explores how to apply existing linear methods
to non linear controls. Several techniques have been introduced for analyzing non linear
systems e.g. feedback linearization, lyapunov stability, phase plane method and gain
scheduling. Recently a new abstraction technique is proposed by M. Zamani, G. Pola, M. Mazo,
Jr. and P. Tabuada in which is applicable to any non linear sampled data control system as
long as the system behaviour is in a compact set. The effectiveness of the technique in [8] is
evaluated via its implementation in a controller responsible in steering a car away from
obstacles [8].

Non linear NCS have the characteristics of not only non linear control systems but also
network control systems and because of it recently many researchers have actively started
working on it. A. Bori, G. Pola and M. D. Di Benedetto worked on the symbolic approach for
the designing of non linear NCS [9], presenting an example of a system controlled by non
linear NCS. Stability analysis of non linear NCS is another important aspect that is considered
by many researchers. N. Vandewou, D. Nesic and W. P. M. H. Helmels recently work on the
stability analysis of non linear NCS using a discrete time approach [10]. They design a
controller that monitors the stability of non linear NCS with time varying sampling interval,
time varying delays and packet dropouts. The results of their research are encouraging.
Extensive work is done by many other researchers. In [11] and [12], a continuous-time
approach leading to NCS models in terms of delay-differential equations (DDEs) and stability
analysis results based on the Lyapunov-Krasovskii functional method is pursued for certain
classes of nonlinear systems. In [13]–[17], an emulation-based framework for the stability
analysis of nonlinear NCSs has been developed. So, overall, the field of non linear network
control systems is a topic of continuous research throughout the globe.

Aims and Objectives of the Research

The objective of the research is to provide a general framework for synthesizing and analyzing
general non linear network control systems. The first target is to complete a comprehensive
literature review and to be familiarized regarding the state of the art research on the topic. Next
will be to combine different established techniques as mentioned in the background to
implement and design a non linear NCS. After successful design of a non linear NCS, evaluation
of current NCS performance is carried out. Later, a new or modified technique is designed and
implemented, and its results are compared with the previously implemented design.
Improvement in stability of non linear NCS is an important factor which will be considered in the
design process.

Although non linear NCS are currently in the developing phase and significant work needs to be
done to make them a reliable and practicable system, they have numerous advantages over
previously designed control systems. NCS are low cost, simple to design and implement and
highly reliable [2]. However, with the addition of non linear control system characteristics, NCS
implementation will be further simplified, there will be a significant increase in system
performance and a drastic decrease in control energy[18]. The proposed research work aims to
contribute effectively in continuing the development of non linear network control systems.

References:

[1] S. Munir and W. J. Book, "Internet based teleoperation using wave variables with prediction", IEEE
transactions on mechatronics, 7(2), June 2002, pp. 124-133.
[2] W. Zhang, M. S. Branicky, and S. M. Phillips, “Stability of networked control systems”, IEEE Control
Systems Magazine, vol. 21, no. 1, pp.84–99, 2001.

[3] H. Gao, T. Chen, and J. Lam, “ A new delay system approach to network-based control ”,
Automatica, vol. 44, no. 1, pp. 39–52, 2008.

[4] P . Naghshtabrizi, J. Hespanha, and A. Teel, “Exponential stability of impulsive systems with
application to uncertain sampled-data systems”, Syst. & Contr . Letters, vol. 57, no. 5, pp. 378–385,
2008.

[5] M. Garcia-Rivera and A. Barreiro, “ Analysis of networked control systems with drops and variable
delays”, Automatica, vol. 43, pp.2054–2059, 2007.

[6] L. Hetel, J. Daafouz, and C. Iung, “ Analysis and control of LTI and switched systems in digital loops
via an event-based modeling”, International Journal of Control, vol. 81, no. 7, p. 1125 1138, 2008.

[7] M. Cloosterman, N. van de Wouw, W. Heemels, and H. Nijmeijer, “Stability of networked control
systems with uncertain time-varying delays”, IEEE Transactions on Automatic Control, vol. 54, no. 7,
pp. 1575–1580, 2009.

[8] M. Zamani, G. Pola, M. Mazo, Jr. and P. Tabuada, "Symbolic model for non linear control system
withoug stability assumptions", IEEE transactions on automatic control, 57(7), July 2012.

[9] A. Borri, G. Pola and M. D. Di Benedetto, "A symbolic approach to the design of non linear
network control systems", HSSS 15th ACM international conference on hybrid systems: computation
and control, 2012.

[10] N. Vandewou, D. Nesic, W. P. M. H. Helmels, "Stability analysis for non linear network control
systems: a discrete time approach", IEEE conference on decision and control, 48(6), Dec 2010.

[11] M. Y u, L. Wang, and T. Chu, “Sampled-data stabilization of networked control systems with
nonlinearity”, IEE Proc.-Control Theory Appl., vol. 152, no. 6, pp. 609–614, 2005.

[12] J. Cao, S. Zhong, and Y . Hu, “Novel delay-dependent stability condi-tions for a class of MIMO
networked control systems with nonlinear perturbations”, Appl. Math. and Comp., vol. 197, pp. 797–
809, 2008.

[13] G. Walsh, O. Belidman, and L. Bushnell, “ Asymptotic behavior of nonlinear networked control
systems”, IEEE Trans. Automat. Contr ., vol. 46, pp. 1093–1097, 2001.

[14] D. Nesic and A. R. Teel, “Input-to-state stability of networked control systems”, Automatica, vol.
40, no. 12, pp. 2121–2128, 2004.

[15] A. Chaillet and A. Bicchi, “Delay compensation in packet-switching networked controlled

sytems”, in Proceedings of the IEEE Conference Decision and Control, Cancun, Mexico, 2008, pp.
3620–3625.
[16] W. Heemels, A. Teel, N. van de Wouw, and D. Nesic, “Networked control systems with
communication constraints: Tradeoffs betweens sampling intervals, delays and performance”, IEEE
Transactions on Automatic Control, August 2010.

[17] D. Nesic and D. Liberzon, “ A unified framework for design and analysis of networked and
quantized control systems”, IEEE Trans. Autom. Control, vol. 54, no. 4, pp. 732–747, 2009.

[18] A. Pourhashemi, S. Haghighatnia, R. K. Moghaddam and N. Mollaei, "Designing Nonlinear

Feedback Control for Controlling Tumor Growth", Research Journal of Applied Sciences, Engineering
and Technology, 6(21), 4085-4089, 2013.