Embedded Model Control of Networked Control Systems: an Experimental Case-study -- Stability analysis and further results

TL;DR

This paper extends previous work on embedded model control in networked control systems by providing stability analysis and additional experimental results using a differential-drive robot, addressing issues like delays and asynchronous control.

Contribution

It offers a stability analysis of the embedded model control approach in NCS and presents further experimental validation beyond the initial case-study.

Findings

Demonstrated stability of the control approach in experimental setups

Validated effectiveness through multiple experimental tests

Extended understanding of asynchronous control in NCS

Abstract

In Networked Control Systems (NCS), the absence of physical communication links in the loop leads to relevant issues, such as measurement delays and asynchronous execution of the control commands. These issues may lead to unwanted control behaviours. This ArXiv paper is intended to give additional results to the work presented in "Embedded Model Control of Networked Control Systems: an Experimental Case-study". The last one presents an original approach, based on the Embedded Model Control, to deal with experimental scenarios characterized by asynchronous control timing. The effectiveness of the proposed approach is demonstrated with a differential-drive robot, first with high-fidelity simulations and finally with several experimental tests. Specifically, the present work aims to study the stability analysis of the EMC experimental setup and to give further experimental results, to complement those presented in the main paper, "Embedded Model Control of Networked Control Systems: an Experimental Case-study".