LPV Gain-Scheduled PID for Distributed Motion Control via Ethernet

There has been increasing research effort in applying control-theoretic approaches to performance management for computer systems such as Web servers, networked, database, and storage systems. Since today´s Ethernet networks and applications are sometimes operated under dynamically changing load conditions that introduce a time-varying delay in the networked control systems (NCS), linear control designs may not suffice to provide stability and/or desired performance guarantee. Research on adapting Ethernet for distributed systems is an interesting topic in the motion control industry, due its commercially off-the-shelf hardware availability and compatibility at a comparative lower price. This paper presents a linear-parameter-varying gain-scheduling (LPV GS) approach for distributed motion control via Ethernet in order to achieve the stability of the closed-loop and the quality of service (QoS).