EDA-Based Speed Control of a Networked DC Motor System With Time Delays and Packet Losses

This paper presents a new controller design method for networked DC motor system in the presence of time delays and packet losses. The sufficient condition under which the closed-loop system is asymptotically stable and the necessary condition under which the networked DC motor has zero steady-state tracking error are derived. Based on the obtained conditions, an output tracking controller design method is proposed, where the estimation of distribution algorithm is used to optimize the control parameters to improve the system control performance. The proposed method can be easily applied to various applications, since it is simple and has no assumptions on time delay and packet loss models. Simulation and experimental results are given to demonstrate the effectiveness of the proposed approach.