Constrained Optimal Control for a Special class of Networked Systems

In this article a constrained finite time optimal controller (CFTOC) for a special class of networked controlled systems (NCS) is presented for the case where the uncertain induced network delays are bounded, unknown, fixed and restricted to be integer multiples of the sampling period. It is proven that the discretized version of the system under study is a switched/polytopic system whose placement on the vertices is governed by an uncontrolled network delay. When the constraints on the input and the states are added, the control objectives can be cast in a CFTOC-formulation, resulting in an affine switching control law. The presented simulation results prove the efficacy of the proposed control scheme.