當一個控制系統其回授路徑是透過網路連接以傳送感測信號或控制信號，則稱為網路控制系統(Networked Control Systems; NCSs)。實際較大型的控制系統，感測器與致動器往往分散於不同地方，所有的感測或控制信號無法在同一封包內傳送。本論文旨在考慮資料分散在多個封包傳輸下，網路控制系統的穩定性分析與控制器設計。首先，我們考慮多封包傳輸網路控制系統的回授穩定問題。將所考慮系統的動態模型化成切換控制系統，使用多重 Lyapunov 函數的方法來分析其穩定性，並且利用線性矩陣不等式(Linear Matrix Inequality; LMI)的技巧找出可以使多封包傳輸網路控制系統穩定的具記憶性之週期性狀態及輸出回授控制器。其次，我們探討多封包傳輸網路控制系統的 控制問題。同樣將其模型化成切換控制系統，使用多重 Lyapunov 函數及線性矩陣不等式的方法找出可使閉迴路系統內部穩定且滿足 要求的具記憶性之週期性狀態及輸出回授控制器。最後，考慮利用網路可以廣播式傳輸資料的特性，考慮一種新的分散式網路回授控制器。我們將系統模型化成切換系統，利用多重 Lyapunov 函數及線性矩陣不等式等技巧找出可以使廣播式多封包傳輸網路控制系統穩定的具記憶性之週期性狀態及輸出回授控制器。我們提供數個例子以驗證所推導的理論。

A feedback control system with feedback loop closing through a real-time network is called a Networked Control System (NCS). For a real NCS, all measured state information being transmitted in a single packet is often impossible since the sensors might distribute in different places. The main objective of this thesis is concerning with stability analysis and control synthesis for NCSs under multiple packet transmission. Firstly, we consider the stabilization problem for multiple packet transmission NCSs. The dynamics of the considered NCS can be modeled as a switched control system. Based on the multiple Lyapunov function method, memorial and periodic state feedback and output feedback laws can be derived by the linear matrix inequality (LMI) approach. Then, the control problem for multiple packet transmission NCSs is considered. Similarly, we model the considered NCS as a switched control system. By the multiple Lyapunov function method, memorial and periodic state feedback and output feedback controllers can be obtained by the LMI approach. Finally, we consider the case that the measured data from a sensor node is broadcasted to all the actuator nodes. At each actuator node, a local controller is used to compute the control signal for the actuator. We model the considered decentralized networked control system as a switched control system. Based on the multiple Lyapunov function method, memorial and periodic feedback laws can be derived by the LMI approach. Several examples are provided for verification.

摘要................................................................................................................I
Abstract.......................................................................................................III
Contents.......................................................................................................IV
List of Figures.............................................................................................VI
Chapter 1 Introduction.........................................................................1
1.1 Networked Control Systems...................................................1
1.2 Motivation..............................................................................2
1.3 Pervious Research..................................................................3
1.4 Contribution............................................................................6
1.5 Organization of the Thesis......................................................7
Chapter 2 Stabilization for Discrete-time Networked Control System under Multiple Packet Transmission.....................8
2.1 State feedback case..................................................................8
2.2 Output feedback case.............................................................14
2.3 Numerical Example...............................................................18
2.4 Summary................................................................................26
Chapter 3 -Control for Discrete-time Multiple Packet Transmission Networked Control Systems......................27
3.1 State feedback case................................................................27
3.2 Output feedback case.............................................................34
3.3 Numerical Example...............................................................40
3.4 Summary................................................................................50
Chapter 4 Multiple Packet Transmission Networked Control Systems - Broadcast Case.................................................51
4.1 State feedback case................................................................51
4.2 Output feedback case.............................................................57
4.3 Numerical Example...............................................................61
4.4 Summary.................................................................................68
Chapter 5 Conclusions.........................................................................69
References..................................................................................................71

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