A remote control technique for constrained linear systems: An index feedback approach

This paper proposes an approach to constrained control of networked systems with state- and/or control-related constraint conditions. We consider tracking control over a network that has some phenomena such as time-varying transmission delay and data losses, where it assumes that an upper- bound of the delay and the number of the losses are not infinite. To solve the constrained control problem, we construct a control system that consists of a switching control method and a reference governor approach, both of which are commonly based on a maximal output admissible set. Another goal of this paper is to show that an invariance of the set provides an property more suitable for the observation of the remote plant state instead of the conventional state feedback approach. Furthermore, we experimentally demonstrate effectiveness of the proposed remote control technique, using a practical Internet communication between NAIST and NUT that the authors belong to respectively.