Constrained finite time control of networked systems with uncertain delays

In this article a Constrained Finite Time Optimal Controller (CFTOC) for Networked Controlled Systems (NCS) is presented for the case where: a) the induced network delays are uncertain and bounded, and b) there are constraints in the magnitude of the control action and the outputs/states of the system. Based on the assumption that the roundtrip latency time varies within known bounds, the uncertain network-induced delays are embedded in the system model resulting in a polytopic uncertain system. When the constraints on the input and the output/state are added, a CFTOC formulation of the control objectives yields an affine control law which guarantees both the stability and the performance of the closed loop, while satisfying the constraints. Simulation results are presented that prove the efficacy of the proposed control scheme.