Modeling and SPM-dependent control of multi-rate networked control system with long time delay

In this paper, an efficient approach of modeling and control is presented for Multi-Rate Networked Control System (MRNCS) with considering long time delay. Firstly, the system is modeled as a switched system with a random switching signal which is subject to random networked-induced delay. For this, time delay is defined as a Markov chain and the model of MRNCS is obtained as a Markovian jump linear system. Afterward, a dynamic output feedback controller is designed for output tracking as well as stabilization of closed-loop system. The modeling and control of MRNCS are presented for two structures. At first, a new model of single-side MRNCS is proposed and a mode-independent controller is designed for stabilizing the system. Then the proposed modeling method is generalized to double-side MRNCS and by introducing the Set of Possible Modes (SPM) concept, an SPM-dependent controller is proposed for double-side MRNCS. To show the effectiveness of the proposed methods, some numerical results are provided on the quadruple-tank process.