Discrete-Time Sliding Mode Control for Networked Control System (eBook)

Axaykumar Mehta, born in Bharuch, Gujarat, India in 1975, completed his B.E. Electrical (1996), M.Tech. (2002) and Ph.D. (2009) degrees from Gujarat University, Ahmedabad, IIT Kharagpur and IIT Bombay, respectively. He worked at various faculty positions at various colleges of Gujarat state for teaching under graduate and post graduate courses during 1996 to 2011. He acted as a Professor and Director of the Gujarat Power Engineering and Research Institute, Mehsana, Gujarat, India from 2012 to 2014. Currently, he is an Associate Professor at the Institute of Infrastructure Technology Research and Management, Ahmedabad, Gujarat. He was also associated as an Associate Faculty at the Indian Institute of Technology, Gandhinagar from 2010 to 2011. He is also recipient of Research Grant on 'Control and Diagnosis of Multi-agent Systems' from University of Cagliari, Italy 2015-16.  His major research interests are Non-linear Sliding Mode Control and Observers, Sliding Mode Control Applications in Electrical Engineering, and Networked Control Systems. He has published 50 research papers in peer-reviewed international journals and conferences of repute. He is also author for 2 monographs and have published 2 patents with Indian patent office. He is a Senior Member of the IEEE, Life Member of the Institution of Engineers (India), and Life Member of the Indian Society for Technical Education and Member of Systems Society of India (SSI). He was conferred the 2014 Best Paper Award by Gujarat Technological University, Ahmedabad.  Dipesh H. Shah received his B.E. and M.E. in Instrumentation and Control from Gujarat University, Ahmedabad in 2007 and 2010, respectively. He has published 10 research papers in international journals and presented several papers at national and international conferences. He is currently pursuing his Ph.D. on Networked Control Systems at Gujarat Technological University, Ahmedabad and working as an Assistant Professor at the Instrumentation and Control Department of Sardar Vallabhbhai Patel Institute of Technology, Vasad, Gujarat.

Preface 7
Contents 10
About the Authors 13
Acronyms 15
List of Figures 19
List of Tables 25
1 Introduction 26
1.1 Introduction 26
1.1.1 Brief Introduction to Networked Control System 26
1.1.2 Advantages and Applications of Networked Control System 27
1.1.3 Structure of Networked Control System 27
1.1.4 Concerns in Networked Control System 29
1.2 Literature Review on Networked Control System 30
1.2.1 NCS in Continuous-Time Domain 31
1.2.2 NCS in Discrete-Time Domain 33
1.2.3 Packet Losses in NCS 34
1.2.4 Output Feedback Control Algorithms for NCS 35
1.3 Contribution of Book 36
1.4 Organization of Book 37
References 38
2 Preliminaries of Sliding Mode Control and Networked Control System 43
2.1 Brief Review of Sliding Mode Control (SMC) Technique 43
2.1.1 Origin of Sliding Mode Control 43
2.1.2 Continuous-Time Sliding Mode Control 46
2.1.3 Discrete-Time Sliding Mode Control 48
2.1.4 Advantages of DSMC Over CSMC 53
2.2 Brief Overview on Networked Control System (NCS) 53
2.2.1 Network Irregularities in NCS 54
2.3 Challenges in Designing DSMC for NCS 55
2.4 Sliding Mode Control with NCS 56
2.5 Conclusion 57
References 57
3 Discrete-Time Sliding Mode Controller for NCS with Deterministic Type Fractional Delay: A Switching Type Algorithm 60
3.1 Network-Induced Fractional Delay Compensation with Thiran's Approximation 60
3.2 Problem Statement 61
3.3 Sliding Surface Design for Deterministic Type Network-Induced Delay 63
3.4 Design of Discrete-Time Sliding Mode Control for NCS … 65
3.5 Stability Analysis 67
3.6 Simulation and Experimental Results 69
3.6.1 System Description 69
3.6.2 Discussion of Simulation and Experimental Results 70
3.7 Conclusion 77
References 77
4 Discrete-Time Sliding Mode Controller for NCS with Deterministic Fractional Delay: A Non-switching Type Algorithm 78
4.1 Network-Induced Fractional Delay Compensation 78
4.2 Problem Statement 79
4.3 Sliding Surface Design 81
4.4 Discrete-Time Sliding Mode Control 82
4.5 Stability Analysis 84
4.6 Results and Discussions 85
4.6.1 Illustrative Example 85
4.6.2 Simulation and Experimental Results of Brushless DC Motor 91
4.7 Simulation with Real-Time Networks 97
4.7.1 CAN as a Network Medium 99
4.7.2 Switched Ethernet as a Network Medium 105
4.7.3 Comparison of Proposed Algorithm with Conventional Sliding Mode Control Under CAN and Switched Ethernet as a Network Medium 111
4.8 Conclusion 113
References 113
5 Multirate Output Feedback-Based Discrete-Time Sliding Mode Controller for NCS Having Deterministic Fractional Delay 1
5.1 Problem Formulation 115
5.2 Sliding Surface Using Multirate Output Feedback 117
5.3 Design of Multirate Output Feedback Discrete-Time … 120
5.4 Stability 122
5.5 Results and Discussion 123
5.5.1 Simulation Results 123
5.6 Conclusion 128
References 129
6 Discrete-Time Sliding Mode Controller for NCS Having Random Type Fractional Delay and Single Packet Loss 130
6.1 Problem Formulation 130
6.2 Sliding Surface with Random Fractional Delay and Packet Loss 133
6.3 Discrete-Time Networked Sliding Mode Control for NCSs with Random Fractional Delays and Packet Loss 136
6.4 Stability Analysis 138
6.5 Results and Discussions 139
6.5.1 Simulation Results 139
6.5.2 Experimental Results 148
6.6 Conclusion 152
References 154
7 Discrete-Time Sliding Mode Control with Disturbance Estimator for NCS Having Random Fractional Delay and Multiple Packet Loss 155
7.1 Networked Control Systems 155
7.2 Problem Formulation 156
7.3 Multiple Packet Loss Policy 159
7.3.1 Multiple Packet Loss Policy from Sensor to Controller 159
7.4 Design of Sliding Surface with Multiple Packet Loss 160
7.5 Discrete-Time Sliding Mode Control Law 162
7.6 Stability Analysis 164
7.7 Results and Discussions 166
7.8 Conclusion 172
References 172
8 Conclusion, Future Scope and Challenges 174
8.1 Conclusion and Future Scope 174
8.2 Challenges 175