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Type of Document Dissertation Author Kottenstette, Nicholas Eugene Author's Email Address nkottens@nd.edu URN etd-08302007-163513 Title Control of Passive Plants with Memoryless Nonlinearities over Wireless Networks Degree Doctor of Philosophy Department Electrical Engineering Advisory Committee
Advisor Name Title Dr. Panos Antsaklis Committee Chair Dr. Aaron Striegel Committee Member Dr. Martin Haenggi Committee Member Dr. Michael Sain Committee Member Dr. Peter Bauer Committee Member Keywords
- markovian jump linear systems
- markov chains
- L2 stability theory
- digital control networks
- robotics
- Hamiltonian systems
- strictly positive real
- strictly output passivity
- strictly input passivity
- 802.15.4
- zigbee
- l2 stability theory
- linear time invariant systems
- positive real
- nonlinear control theory
- communication
- Euler-Lagrange systems
Date of Defense 2007-08-27 Availability unrestricted Abstract This dissertation shows how to develop wireless networked embedded control systems(wnecs) in which the controller and the plant are isolated and can only interact
over a wireless network. Many of the new results presented are based on passivity and
scattering theory. In particular we show how to:
1. synthesize discrete time passive, strictly-input passive, and strictly-output passive
systems from their continuous counterparts using a inner-product equivalent
sample and hold (IPESH) block (with an optional passive observer),
2. create a data-drop out, and delay tolerant l2-stable digital control network for a
continuous passive plant in which:
(a) the continuous passive plant can also be subject to various memoryless nonlinearities
such as actuator saturation,
(b) the digital controller only needs to be run when passive data is received over
the wireless network,
(c) the entire control network has been simulated on a theoretically validated
wireless ring token network,
(d) a new “power junction” is introduced in which multiple plants and controllers
can interact while preserving passivity,
(e) a new distortion measure is used to evaluate these control networks,
3. determine the capacity, and mean delays of a wireless ring token network.
We conclude with a presentation of neclab, a set of python and C based tools used to
help an engineer simulate and develop wnecs.
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