Networked control systems
Summary
This course offers an introduction to control systems using communication networks for interfacing sensors, actuators, controllers, and processes. Challenges due to network non-idealities and opportunities offered by communication will be analyzed.
Content
Control systems relying on communication networks find several applications in emerging fields such as cyberphysical systems and the Internet of Things. The exchange of information over imperfect channels raises the problem of studying how networks impact on the real-time behaviour of systems. The first part of this course will focus on methods for analysing stability and performance of networked control systems. In the second part, instead, we will study how to exploit networked architectures for realising coordinated behaviours among subsystems. We will introduce consensus algorithms and illustrate various applications to sensor networks, cooperative robotics, analysis of opinion dynamics and electric systems.
Structure
- Review of linear systems and Lyapunov stability
- Linear matrix inequalities and switched systems
- Features of control networks
- Stability analysis of networked control systems in presence of
quantization, communication delays and packet loss - Elements of graph theory
- Discrete-time consensus algorithms
- Graph Laplacians
- Continuous-time consensus algorithms
Keywords
Communication networks, sampled-data systems, feedback control, graph theory, consensus algorithms.
Learning Prerequisites
Required courses
Linear algebra, Control systems
Important concepts to start the course
- State-space models
- Linear systems in continuous and discrete time
- Basic concepts of stability
- Feedback control
Learning Outcomes
By the end of the course, the student must be able to:
- Construct and analyse a discrete-time model for a dynamic system, A5
- Analyze a multivariable dynamic system and design an appropriate controller for the system, A10
- Assess / Evaluate the stability, performance and robustness of a closed-loop system, A12
- Propose several control solutions, formulate the trade-offs, choose the options, A14
Transversal skills
- Use a work methodology appropriate to the task.
- Demonstrate the capacity for critical thinking
Teaching methods
Ex-cathedra, exercises
Assessment methods
Written final exam
Supervision
| Office hours | No |
| Assistants | Yes |
| Forum | No |
Resources
Bibliography
Bibliography
- Course slides on Moodle
- For the second part of the course: F. Bullo. Lectures on Network Systems
Ressources en bibliothèque
Moodle Link
In the programs
- Semester: Fall
- Exam form: Written (winter session)
- Subject examined: Networked control systems
- Lecture: 2 Hour(s) per week x 14 weeks
- Exercises: 1 Hour(s) per week x 14 weeks
- Type: optional
- Semester: Fall
- Exam form: Written (winter session)
- Subject examined: Networked control systems
- Lecture: 2 Hour(s) per week x 14 weeks
- Exercises: 1 Hour(s) per week x 14 weeks
- Type: optional
- Semester: Fall
- Exam form: Written (winter session)
- Subject examined: Networked control systems
- Lecture: 2 Hour(s) per week x 14 weeks
- Exercises: 1 Hour(s) per week x 14 weeks
- Type: optional
- Semester: Fall
- Exam form: Written (winter session)
- Subject examined: Networked control systems
- Lecture: 2 Hour(s) per week x 14 weeks
- Exercises: 1 Hour(s) per week x 14 weeks
- Type: optional
- Semester: Fall
- Exam form: Written (winter session)
- Subject examined: Networked control systems
- Lecture: 2 Hour(s) per week x 14 weeks
- Exercises: 1 Hour(s) per week x 14 weeks
- Type: optional
- Semester: Fall
- Exam form: Written (winter session)
- Subject examined: Networked control systems
- Lecture: 2 Hour(s) per week x 14 weeks
- Exercises: 1 Hour(s) per week x 14 weeks
- Type: optional
- Semester: Fall
- Exam form: Written (winter session)
- Subject examined: Networked control systems
- Lecture: 2 Hour(s) per week x 14 weeks
- Exercises: 1 Hour(s) per week x 14 weeks
- Type: optional
- Exam form: Written (winter session)
- Subject examined: Networked control systems
- Lecture: 2 Hour(s) per week x 14 weeks
- Exercises: 1 Hour(s) per week x 14 weeks
- Type: optional