One-step finite horizon boundary with varying control gain for event-driven Networked Control Systems

Recent research has shown that event-driven control requires less samples than time-driven (periodic) control. Consequently, event-driven control applied to Networked Control Systems (NCS) is a good approach for alleviating controllers bandwidth demands and reducing overall network traffic. Following this trend, this paper presents an execution rule for event-driven networked controllers that at each job execution aims at postponing the next job execution while applying an appropriated controller gain considering each varying sampling interval that applies at run time. This method permits to dynamically lower the generated traffic for each networked control loop while ensuring the same or better control performance than the achieved by the periodic case. In addition, an implementation strategy capable of dealing with network induced time delays is also presented. Simulation results illustrate the operation and benefits of the presented approach.