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Summary: Control of Multiple Networked Passive Plants With Delays and Data
Dropouts
Nicholas Kottenstette and Panos J. Antsaklis
Abstract-- This paper provides a framework to synthesize
lm
2 -stable and Lm
2 -stable control networks in which m strictly-
output passive controllers can control n - m strictly-output
passive plants. The communication between the plants and
controllers can tolerate time varying delay and data dropouts.
In particular, we introduce a power junction which allows even
a single controller (typically designed to control a single plant)
to accurately control the position of multiple plants even if the
dynamics of the plants are different. An illustrative simulated
example shows the position tracking performance of the system.
We conclude the discussion with two questions for future
research.
I. INTRODUCTION
The primary goal of this research is to develop reliable
wireless control networks [1], [2]. These networks typically
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