A new event-driven output-based discrete-time control for the sporadic MIMO tracking problem

摘要

This paper presents a new sporadic control approach to the tracking problem for MIMO closed-loop systems. An LTI sampled data plant with unmeasurable state affected by external unknown disturbances is considered. The plant is interconnected to an event-based digital dynamic output-feedback controller via a network. Both the external reference and the unknown disturbance are assumed to be generated as the free output response of unstable LTI systems. The main feature of the new event-driven communication logic (CL) is that it works without the strict requirement of a state vector available for measurement. The purpose of the CL is to reduce as much as possible the number of triggered messages along the feedback and feedforward paths with respect to periodic sampling, still preserving internal stability and without appreciably degrading the control system tracking capability.The proposed event-driven CL is composed of a sensor CL (SCL) and of a controller CL (CCL). The SCL is based on the computation of a quadratic functional of the tracking error and of a corresponding suitably computed time-varying threshold: a network message from the sensor to the controller is triggered only if the functional equals or exceeds the current value of the threshold. The CCL is directly driven by the SCL: the dynamic output controller sends a feedforward message to the plant only if it has received a message from the sensor at the previous sampled instant. Formulation of the controller in discrete-time form facilitates its implementation and provides a minimum inter-event time given by the sampling period. An example taken from the related literature shows the effectiveness of the new approach. The focus of this paper is on the stability and performance loss problems relative to the sporadic nature of the control law. Other topics such as network delay or packets dropout are not considered.