μ-synthesis for distributed control systems with network-induced delays

Abstract

This paper presents the use of H/sub /spl infin//-control theory and the /spl mu/-synthesis approach for distributed control systems incorporating a digital controller and a continuous system, separated by a local area network. Due to random delays in the network, the control system is modeled as a random time-delayed sampled-data system. An example of robust and stable controller design is given for a linearized single-link robot manipulator. A network infrastructure is proposed for distributed control applications.