%0 Journal Article
%J Industrial Informatics, IEEE Transactions onIndustrial Informatics, IEEE Transactions on
%D 2011
%T A Delay-Dependent Dual-Rate PID Controller Over an Ethernet Network
%A Cuenca,A.
%A Salt,J.
%A A. Sala
%A Piza,R.
%K delay dependent dual rate PID controller
%K delays
%K duality (mathematics)
%K Ethernet network
%K event based control
%K gain scheduling
%K linear matrix inequalities
%K load condition
%K local area networks
%K networked control systems
%K probabilistic linear matrix inequality
%K remote controller
%K stability
%K stability analysis
%K synchronisation
%K three-term control
%K time varying delay
%K time-varying systems
%K TrueTime simulation
%X In this paper, a methodology to design controllers able to cope with different load conditions on an Ethernet network is introduced. Load conditions induce time-varying delays between measurements and control. To face these variations an interpolated, delay-dependent gain scheduling law is used. The lack of synchronization is solved by adopting an event-based control approach. The dual-rate control action computation is carried out at a remote controller, whereas control actions and measurements are taken out locally at the controlled process site. Stability is proved in terms of probabilistic linear matrix inequalities. TrueTime simulations in an Ethernet case show the benefit of the proposal, which is later validated on an experimental test-bed Ethernet environment.
%B Industrial Informatics, IEEE Transactions onIndustrial Informatics, IEEE Transactions on
%V 7
%P 18 - 29
%8 2011///
%@ 1551-3203
%G eng
%N 1
%0 Journal Article
%J Control Systems Technology, IEEE Transactions onControl Systems Technology, IEEE Transactions on
%D 2011
%T A Transfer-Function Approach to Dual-Rate Controller Design for Unstable and Non-Minimum-Phase Plants
%A Salt,J.
%A A. Sala
%A Albertos,P.
%K algebraic design
%K control system synthesis
%K controller stability
%K Diophantine equations
%K dual-rate controller design
%K dual-rate regulators
%K internal stability
%K linear systems
%K magnetic levitation
%K magnetic levitation setup
%K multivariable control systems
%K nonminimum-phase plants
%K robots
%K single-rate systems
%K stability
%K transfer function approach
%K transfer functions
%K Youla parametrization
%X An algebraic design via Diophantine equations of dual-rate regulators for linear unstable and non-minimum-phase plants, generalizing the well-known constraints for the reference model in single-rate systems, is presented in this brief. This brief improves previous results achieving internal stability for this kind of plants, by means of adapting the Youla parametrization of all stabilizing controllers to the dual-rate case. A simulation example on a robotic model, as well as an experimental magnetic levitation setup, are presented.
%B Control Systems Technology, IEEE Transactions onControl Systems Technology, IEEE Transactions on
%V 19
%P 1186 - 1194
%8 2011///
%@ 1063-6536
%G eng
%N 5