Optimal control for networked control systems with disturbances: A delta operator approach

This study deals with the optimal control problem for a class of delta-domain networked control systems (NCSs) subjected to both matched and unmatched disturbances. In the presence of the disturbances, the so-called ϵ-optimum is proposed to quantify the control performance. The purpose of the addressed problem is to design the optimal control strategy such that the cost function is minimised over the finite-/infinite-horizon under the network-induced constraints. In virtue of the dynamic programming method, sufficient conditions are established to guarantee the existence of the desired control strategies, and the controller parameters are designed. For the obtained optimal control strategy, an upper bound for the ϵ-optimum is provided explicitly, and convex optimisation algorithms are given to compute such upper bound. Both simulation and experimental results are provided to illustrate the usefulness and applicability of the proposed methods.