Networked control systems using H2 multirate control

This paper is concerned with control systems, where control data is sent over a serial network. To reduce network traffic, several control commands are made into one packet. The control problem is formulated in H₂ multi-rate control framework, where network delay is explicitly considered. We formulate the NCS problem as a dual rate control problem: low transmission rate for data over the network and high update rate for actuator commands. Low network transmission rate is achieved by embedding several actuator commands in a single packet. In the actuator side, these actuator commands are applied to the actuator sequentially with higher rate than the network transmission rate. We propose a multirate NCS controller with H₂ performance and also H₂ multirate sampled-data controller design is considered.