An Optimal Controller Design for CPS with Stochastic Time Delay

Abstract

Since Cyber-Physical System(CPS) is defined as integrations of computation, communication and control to physical processes, the communication plays an important role in such system. Compared with the traditional control system, the control in CPS is very difficult because the communication networks inevitably introduce variable time delays and possible lost of samples. In Networked Control System(NCS), there are some related works to discuss the problem of time delay. However it still needs to evaluate and improve those existing schemes in CPS. In this paper, a novel dynamic timeout scheme and actuator compensation by using a hidden Markov model for the time delay to reduce the influence of random time delays has been proposed. Simulation results on TrueTime 2.0 demonstrate the feasibility and effectiveness of this networked real-time control strategy.