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Summary: Wireless Control of Passive Systems Subject to Actuator Constraints
Nicholas Kottenstette and Panos J. Antsaklis
Abstract-- Actuator constraints such as saturation can im-
pose severe constraints on networked control systems. For
instance delays in wireless control systems of unstable plants
combined with actuator constraints may make it impossible
to stabilize a system. In this paper the conditions are derived
that show when actuator saturation, a common memoryless
nonlinearity, in series with a passive system causes the loss of
passivity. However, using a non-linear controller known as a
inner-product recovery block, the overall passivity of the system
is recovered. Furthermore, we note specific sector conditions in
which strictly-input passivity and strictly-output passivity can be
recovered. Finally, it is shown how the inner-product recovery
block can be used to maintain an lm
2 -stable wireless control
network.
I. INTRODUCTION
Wireless communication systems are subject to many
additional disturbances which traditional wired communica-
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