Tracking accuracy of cyber-physical systems over bandwidth-limited channel

Area of Science:

• Control Systems Engineering
• Networked Systems Analysis
• Signal Processing

Background:

• Networked systems face performance degradation from bandwidth limitations and noise.
• Characterizing these limitations is crucial for robust system design.

Purpose of the Study:

• To determine the fundamental output tracking performance limits of networked systems.
• To analyze the impact of bandwidth-limited channels and additive colored Gaussian noise (ACGN).

Main Methods:

• Utilized H2 norm of the tracking error signal as the performance index.
• Employed linear time-invariant filters for bandwidth constraints and ACGN.
• Applied factorization techniques and Youla parameterization for controller design.

Main Results:

• Derived exact expressions for tracking performance limitations.
• Established a direct relationship between performance limits and plant characteristics.
• Quantified the adverse effects of limited bandwidth and ACGN on tracking performance.

Conclusions:

• The study provides a theoretical framework for understanding performance limitations in networked control systems.
• Theoretical findings were validated using a practical example of a linear dual-freedom vehicle system.
• The proposed method demonstrates effectiveness in analyzing and potentially mitigating performance limitations.