Empirical validation of cost-function based analysis for networked control systems

In this paper, a networked control system (NCS) over communication links with several communication effects such as packet losses, delays and sampling jitter is considered. Based on an appropriate modeling of the NCS and its links, a quadratic cost function is computed for evaluating and predicting the NCS performance for an arbitrary controller at given communication conditions. To validate the analysis, an NCS is implemented in which the motion of two mobile robots is controlled. The obtained empirical results validate the proposed NCS modeling and cost-based performance analysis.