By John Chiasson, Jean Jacques Loiseau
This publication offers an replace of the most recent examine in command of time hold up structures and functions by way of global best specialists. it is going to attract engineers, researchers and scholars up to speed.
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The clock’s synchronization routine was implemented using both UDP and TCP over IP. We ran the routine at different times of the day and with the controller’s computer inside and outside the building LAN. With the controller’s computer inside the building LAN, (whether it is wireless or wired), and during low trafﬁc hours, the average round-trip time was 3 msec. During high trafﬁc Networked Control Systems: Algorithms and Experiments 1 3 39 5 ✛ RT T 0 ✲✛ RT T 2 ✲ t t t ✲ Plant time line ❆ ✕ ❆ ✁ ✕ ❆ ✁ ❆ ❆ ✁ ✁ ❆ ❆ ✁ ❆ ✁ ❆ ❯ ✁t ❆ ❯ ✁t ❆ ❯t ✲ ❆ Controller time line t f ✛of✲ ✛ RT T 1 ✲✛ RT T 3 ✲ 2 4 6 Fig.
We used as the controller a computer connected outside the campus LAN, and applied state feedback with gain K = 2. The round-trip time was on the average around 80 msec, as shown in Figure 5, and the one-way trips were fairly symmetric as shown in Figure 6. In the ﬁrst experiment we used a sampling time ts = 240 msec. 6 volts. For the ﬁrst 15 secs no compensation was applied and the plant state oscillates between ±4 volts. At t = 15 secs compensation for the plant-to-controller time-delay τpc is applied, which reduces the oscillations to ±2 volts.
The master control law was given by ˙ − Kr r(t) − Krv (ˆ r (t) − v(t − τ2 )), Tr (t) := −Br r(t) (29) ˙ − θ(t ˙ − τ2 )) Tφ (t) := −Bφθ (φ(t) ˙ − Kφθ (φ(t) − θ(t − τ2 )), −Bφ φ(t) (30) and the slave control law was given by Tv (t) := −Krv (v(t) − rˆ(t − τ1 )), ˙ − φ(t ˙ − τ1 )) Tθ (t) := −Bφθ (θ(t) (31) −Kφθ (θ(t) − φ(t − τ1 )). (32) where T is the control command acting along the direction, τ1 , τ2 are the forward/backward delays, and Krv , Kr , Kφθ , Bφθ , Bφ are (positive) control gains. 04. Here, λ was determined by trial-and-error 52 R.