等式约束的网络化控制系统的稳定性设计

研究了等式约束的网络化控制系统的稳定性问题．在假设网络时滞是随机变化的，并且假设网络化控制系统的被控对象为一个具有等式约束的时滞系统的情况下，将网络化控制系统模型化为一个混合系统．然后采用李亚普诺夫函数、线性矩阵不等式的方法推导出了该混合系统渐近稳定的一个充分条件．根据此充分条件，通过求解一个线性矩阵不等式，较容易地获得系统的最大允许网络时滞以及此时的控制器．最后给出一个具体的数值和仿真实例说明了此设计方法是有效的．

Stability Design for Networked Control System with Equality Constraint

Stability of the networked control system(NCS) with equality constraint is studied.On the assumption that the network delay changes randomly and the plant under the control of the NCS is a time-delay system with equality constraint,the NCS is modeled as a hybrid system.Then,the Lyapunov function and linear matrix inequality(LMI) methods are used to derive a sufficient condition for the asymptotical stability of the hybrid system.With this sufficient condition,by solving linear matrix inequality,the system maximum allowable network-delay and the controller at this time can be obtained easily.The numerical example and simulation are presented to demonstrate the effectiveness of the proposed design approach.