Compensation of delay time uncertainties on industrial control ethernet networks using LMI based robust H∞ PID controller

Industrial Ethernet and wireless network become a common platform to implement industrial control in industries. Network control systems are subjected to delay time uncertainties due to the load traffic in the networks. As the PID controller is a major control algorithm in industries, this paper proposes a LMI based robust Hinfin PID controller using robust integral backstepping method to compensate the delay time uncertainties. To design using robust integral backstepping method, the plant and the PID controller are represented as a full state feedback control system in state space representation. The obtained parameters can then be used in the installed PID controller in the network based industrial control systems.