随机时延网络化控制系统的动态增益调度策略*

研究了一种通过网络中间件对原有控制器的输出进行外部增益调整的方法，以实现不改变已存在控制器的前提下，动态补偿随机网络时延对控制系统的影响。利用离散二次型最优规划算法设计了二次型最优增益参数序列，建立了与随机时延序列相对应的二次型最优增益参数序列查询表，并介绍了利用查表法进行在线调整增益策略的步骤。通过仿真实例验证了这种外部增益调整策略可以有效地补偿随机时延对控制系统的影响。

Dynamic gain scheduling method for networked control systems with stochastic delay

Using a gain scheduler algorithm to modulate the output of an existing controller externally by middleware.This paper proposed a novel method to compensate for stochastic network delay, without changing the existing controller. Under discrete linear quadratic regulation algorithm, the discrete linear quadratic optimal gain scheduling sequences and the lookup table of optimal scheduling sequences corresponding to stochastic time delays were both designed offline. At the same time,introduced the steps using the lookup table method to adjust the gains of the existing controller online externally.Finally, a simulation example shows the validity of this method.