Proceedings of the 8th

World Congress on Intelligent Control and Automation

July 6-9 2010, Jinan, China

Stability and PID Control for Networked Control System*

Xiangdong Dang1,2, Qingling Zhang2
1
School of Information Science and Engineering Technology, Shenyang Ligong University, Shenyang110159, China
xddang2005@126.com
2
Institute of Systems Science,Northeastern University, Shenyang110004, China

Abstract - In this paper, four new control methods of output
feedback proportional-integral-derivative (PID) control, dynami-
cal output feedback PID control, state feedback PID control and
dynamical state feedback PID control are presented for
networked control system (NCS) with time-delay and data packet
dropout. The work focuses on the model, stability and PID
controller design of NCS with time-delay and dropped out
packet. The NCS with time-delay and data packet dropout is
modeled as an asynchronous dynamical system (ADS)
constrained by event rates. Furthermore, based on the ADS
theory, principle of Lyapunov stability and method of linear
matrix inequality, both the semi-negative definite matrix
conditions for exponential stability and the PID controller design
of NCS are given. Finally, numerical examples illustrate the
feasibility and efficiency of the results.
Index Terms - Networked control system (NCS); Exponential
stability; Data packet dropout; Proportional-integral-derivative
(PID) control.
I. INTRODUCTION
In networked control system (NCS), there exist trans-
mission time-delay and data packet dropout caused by the
network. They have a certain impact on the stability of NCS,
which is an important feature that reflects the normal
operation state of the system and should be considered in the
system modelling, design and application. Recently, much
attention has been paid to NCS, a great number of results have
been obtained [1-12]. Hassibi et al.[1], Rabello et al.[2] and
Zhang et al.[3] proposed the exponential stability definition
and fundamental theorem of asynchronous dynamical system
(ADS), and discussed the negative definite matrix conditions
for the exponential stability of NCS with data packet dropout.
The negative definite matrix conditions for the exponential
stability of NCS with data packet dropout was discussed in
[4,5]. Mu et al.[6] and Montestruque et al.[7,8] focused on
sufficient condition for the global exponential stability of
model-based NCS. The exponential stability and asymptotic
stability of multi- packet transmission NCS was considered in
[3,9-12]. All these literatures and other literatures of NCS
discussed the stability of NCS with static state feedback,
output feedback and dynamical output feedback. However, the
stability of NCS with dynamical state feedback and
proportional-integral-derivative (PID) control has not been
considered. But, PID control is the most widely and
paper. Four novel control methods of state feedback PID
control, output feedback PID control, dynamical output
feedback PID control, and especially dynamical state feedback
PID control are present. Based on proposed four PID control,
this work focuses on the model, stability and controller design
of NCS with time-delay and data packet dropout.
II. PROBLEM DESCRIPTIONS AND MATHEMATICAL MODEL
First, we can introduce the following assumptions:
1) The sensor is time driven, with a sampling period T;
The controller and actuator are event driven;
2) τ ksc and τ kca denote the sensor-to-controller time-delay
and the controller-to-actuator time-delay, respectively; Total
time-delay τ k = τ ksc + τ kca ≤ T is time invariable;
3) Data are single packet transmission, with a constant
loss rate.
Consider the NCS with packet dropout depicted in Fig. 1.
Fig. 1 Structure of NCS with packet dropout.
In Fig. 1, the controlled plant equation is
⎧ x(t ) = Ax(t ) + Bu (t )
⎨ (1)
⎩ y (t ) = Cx(t )
where x(t )∈R n , u (t )∈R q and y (t )∈R m are the controlled
plant state vector, input and output vector, respectively;
A∈R n×n , B∈R n×q and C ∈R m×n are known constant matrices.
Taking (k)=(kT) for short (omitting the sample period mark T).
So, we can obtain the discrete model of controlled plant (1):
⎧ x(k + 1) = A0 x(k ) + B0u (k )+B1u (k −1)
⎨ (2)
⎩ y (k ) = Cx(k )
T −τ k T
where A0 = e AT , B0 = ∫ e As ds ⋅ B, B1 = ∫ e As ds ⋅ B .
0 T −τ k
k
Notation 1 y (k )= y (k ) − y (k −1) , ŷ (k )= ∑ y ( j ) ,
j =0
k

commonly applied basic control method in industrial control. x ( k )= x ( k ) − x ( k −1) , x̂(k )= ∑ x ( j ) .

j =0
In recent ten years, it is especially aroused wide concern in
The controller equation in Fig. 1 is given by one of the
control theory field. We propose PID control in NCS in this
following four equations:

*
This work is partially supported by the National Natural Science Foundation of China under Grant 60574011.

978-1-4244-6712-9/10/$26.00 ©2010 IEEE 921

 (a) output feedback PID controller equation Z1 ( k + 1) = Ω
ˆ ji Z1 ( k ) (13)
v(k ) = K P y (k ) + K I yˆ (k ) + K D y (k ) (3)
where
(b) dynamical output feedback PID controller equation
Ωˆ ji = Φ ji + HE ji (14)
⎧ xc (k + 1) = Ac xc (k ) + BP y (k ) + BI yˆ (k ) + BD y (k )
⎨ (4) ⎡ A0 0 0 μˆ j B0 + B1 ⎤
⎩v(k ) = Cc xc (k ) + K P y (k ) + K I yˆ (k ) + K D y (k ) ⎢ ⎥
(c) state feedback PID controller equation ⎢ θi C θˆi I 0 0 ⎥
Φ ji = ⎢ ⎥
(15)
v(k ) = K P x (k ) + K I xˆ (k ) + K D x (k ) (5) ˆ
(d) dynamical state feedback PID controller equation ⎢θi C θi I I 0 ⎥
⎢⎣ 0 0 0 μˆ j I ⎥⎦
⎧ xc (k + 1) = Ac xc (k ) + BP x (k ) + BI xˆ ( k ) + BD x ( k )
⎨ (6)
⎡ K PT B0T 0 0 K PT ⎤
T
⎩v(k ) = Cc xc (k ) + K P x (k ) + K I xˆ (k ) + K D x (k )
In (a), (b), (c) and (d), x (k ) and y (k ) are the controller
⎢ ⎥
H = ⎢ K IT B0T 0 0 K IT ⎥ (16)
input; xc (k ) and v(k ) are the controller state and output, ⎢K T BT 0 0 K T ⎥
respectively. x̂(k ) and ŷ ( k ) are the controller integral item ; ⎣ D 0 D⎦

x ( k ) and y (k ) are the controller differential item ; Ac and ⎡θi μ j C μ jθˆi I 0 0⎤

Cc are the controller coefficient of dynamics ; BP ( K P ) , ⎢ ⎥
E ji = ⎢θi μ j C μ jθˆi I μ j I 0⎥ (17)
BI ( K I ) and BD ( K D ) are the controller proportion gain, ⎢ ⎥
ˆ
integral gain and differential gain. ⎢⎣θi μ j C μ jθi I − μ j I 0 0 ⎥⎦
K1 and K 2 in Fig. 1 are the switches of the network. B. Mathematical Model of NCS with Dynamical Output
si (i=12), and s j ( j=1,2) are the state of K1 and K 2 , respectively. Feedback PID Control
If the state of K1 is s1 , which denotes data packet is not lost, Define vector
then x (k )= x(k )( y ( k )= y ( k )) ; If the state of K1 is s2 , which Z2 (k ) = ( x T (k ) xcT (k ) y T (k −1) yˆ T (k −1) u T (k −1))T
denotes data packet is lost, then x ( k )= x (k −1) ( y (k )= y (k −1)) . (18)
If the state of K 2 is s1 , which denotes data packet is not lost, From (2), (4), (7), (8), (18) and Notation 1, we can obtain
the mathematical model
then u ( k )=v( k ) ; If the state of K 2 is s2 , which denotes data
packet is lost, then u (k )=u (k −1) .Hence, x (k ) , y ( k ) and u (k )
Z 2 ( k + 1) = Ω ji Z 2 ( k ) (19)
can be expressed as the following. where
When using output feedback PID controller equation (3) Ω ji = Φ ji + H1 Ei (20)
and (4), we have
Φ ji = Φ ji + H 2 Fji (21)
y (k ) = θi y (k ) + θˆi y (k −1) (7)
⎡ A0 μ j B0Cc 0 0 μˆ j B0 + B1 ⎤
u (k ) = μ j v(k ) + μˆ j u (k − 1) (8) ⎢0 ⎥
When using state feedback PID controller equation (5) ⎢ Ac 0 0 0 ⎥
and (6), we have ⎢
Φ ji = θi C ˆ
0 θi I 0 0 ⎥ (22)
x (k ) = θi x(k ) + θˆi x (k − 1) (9) ⎢ ⎥
⎢θi C 0 θˆi I I 0 ⎥
u (k ) = μ j v(k ) + μˆ j u (k − 1) (8) ⎢ ⎥
where ⎣0 μ j Cc 0 0 μˆ j I ⎦
⎧ θ1 = 1, θˆ1 = 0 (i = 1) , if the state of K1 is s1 ⎡θi C 0 θˆi I 0 0⎤
T
⎨ (10) ⎡0 BP 0 0 0⎤
T

⎩θ 2 = 0, θˆ2 = 1 (i = 2) , if the state of K1 is s2 ⎢ ⎥ ⎢ ⎥

H1 = ⎢0 BIT 0 0 0 ⎥ , Ei = ⎢θi C 0 θˆi I I 0 ⎥ (23)
⎧ μ1 = 1, μˆ1 = 0 ( j = 1) ,if the state of K 2 is s1 ⎢0 B T 0 0 0 ⎥ ⎢ ⎥
(11) ˆ
⎨
⎩ μ2 = 0, μˆ 2 = 1( j = 2) ,if the state of K 2 is s2 ⎣ D ⎦ ⎢⎣θi C 0 θi I − I 0 0 ⎥⎦
A. Mathematical Model of NCS with Output Feedback PID T
Control ⎡ K PT B0T 0 0 0 K PT ⎤
Define vector
⎢ ⎥
H 2 = ⎢ K IT B0T 0 0 0 K IT ⎥
Z1 (k ) = ( x T (k ) y T (k −1) yˆ T (k − 1) u T (k −1))T (12) ⎢K T BT 0 0 0 K T ⎥
From (2),(3),(7),(8),(12)and Notation 1, we can obtain the ⎣ D 0 D⎦

mathematical model

922
 ⎡θi μ j C 0 μ jθˆi I 0 0 ⎤ Lemma 1[1-3] For ADS x ( k + 1) = f s ( x ( k ) ) , s = 1, 2, ,
⎢ ⎥ N , the incidence rates of discrete events 1,2 , ,N are
F ji = ⎢θi μ j C 0 μ jθˆi I μ j I 0⎥ (24) N
⎢ ˆ ⎥ r1 , r2 , ,rN , respectively; and ∑r = 1 . If there exist a
⎢⎣θi μ j C 0 μ jθi I − μ j I 0 0 ⎥⎦
s
s =1

C. Mathematical Model of NCS with State Feedback PID Lyapunov function V ( x(k )) from R n → R+ and scalars as > 0
Control (s =1,2, ,N ) satisfying
Define vector
a1r1 a2r2 aNrN > 1 (31)
Z3 (k ) = ( x T (k ) x T (k −1) xˆ T (k −1) u T (k − 1))T (25)
V ( x(k + 1)) − V ( x(k )) ≤ (as−2 −1)V ( x( k )) (32)
From (2), (5), (8), (9), (25) and Notation 1, we can obtain
the mathematical model Then the ADS is exponentially stable.
Lemma 2[10,13] For symmetric matrix Y, nonzero matrices
Z 3 ( k + 1) = Ω ji Z 3 ( k ) (26)
H , E , and all F satisfying F T F ≤ I , if and only if there
where exists a scalar ε >0 such that
⎡ A1 A2 A3 A4 ⎤ (ⅰ) Y + HFE + E T F T H T ≤ 0 is equivalent to Y + ε HH T
⎢ ⎥ +ε − 1 E T E ≤ 0 ;
θi I θˆi I 0 0 ⎥
Ω ji = ⎢⎢ (27) (ⅱ) Y + HFE + E T F T H T < 0 is equivalent to Y + ε HH T
⎢θi I θˆi I I 0 ⎥⎥ +ε − 1 E T E < 0 .
⎢⎣ A5 A6 μ j K I μˆ j I ⎥⎦ Lemma 3[14] (Schur compensation lemma) For the
symmetric matrix S = ⎡ 11 12 ⎤ , if S11 is reversible, and S11<0,
S S
Notation 2 Α1 = A0 + μ j θi B0 K , Α2 = μ j B0 (ˆθi K − K D ) , ⎢⎣S 21 S 22 ⎥⎦
Α3 = μ j B0 K I , Α4 = μˆ j B0 + B1 , Α5 = μ j θi K , Α6 = μ j (ˆθi K − K D ) , then(ⅰ) S ≤ 0 ⇔ S 22 − S 21S11 S12 ≤ 0
−1

K = KP + KI + KD . (ⅱ) S < 0 ⇔ S 22 − S 21S11 S12 < 0

−1

D. Mathematical Model of NCS with Dynamical State By Lemma 2 and Lemma 3, we can proof Lemma 4
Feedback PID Control
Lemma 4 For symmetric matrix ⎡ 11 12 ⎤ , nonzero
S S
Define vector ⎢⎣S 21 S 22 ⎥⎦
Z4 (k ) = ( x T (k ) xcT (k ) x T ( k −1) xˆ T ( k −1) u T ( k −1)) T matrices H, E, and all F satisfying FTF≤ I, if and only if there
(28) exists a scalar ε >0 such that
From (2), (6), (8), (9), (28) and Notation 1, we can obtain (ⅰ) the following two inequalities are equivalent
the mathematical model ⎡−ε I 0 ε H T 0 ⎤
Z 4 ( k + 1) = Ω ji Z 4 ( k ) (29) ⎢ ⎥
⎡ S11 S12 + HFE ⎤ ⎢* −ε I 0 E ⎥
where (a) ⎢ ⎥ ≤ 0 ,(b) ⎢ ≤0.
⎣* S 22 ⎦ * * S11 S12 ⎥
⎡ A1 μ j B0Cc A2 A3 A4 ⎤ ⎢ ⎥
⎢ ⎥ ⎣* * * S22 ⎦
⎢θi B Ac A7 BI 0 ⎥
(ⅱ) the following two inequalities are equivalent
Ω ji = ⎢θi I 0 θˆi I 0 0 ⎥ (30)
⎡−ε I 0 ε H T 0 ⎤
⎢ ⎥
⎢θi I 0 θˆi I I 0 ⎥ ⎢ ⎥
⎢ ⎥ ⎡ S11 S12 + HFE ⎤ ⎢* −ε I 0 E ⎥
⎢⎣ A5 μ j Cc A6 μ j K I μˆ j I ⎥⎦
(a) ⎢ ⎥ < 0 ,(b) ⎢ <0.
⎣* S22 ⎦ * * S11 S12 ⎥
ˆ B− ⎢ ⎥
Notation 3 Α1 ∼ A6 is the same as Notation 2, Α7 =θi ⎣* * * S22 ⎦
BD , B = BP + BI + BD . where “∗” represents symmetric element, the following is the
Taking the incidence rates of events si and s j are ri and rj , same.
A. Stability of NCS with Output Feedback PID Control
respectively; and r1 + r2 =1, r1 + r2 =1 ; the incidence rate of
Theorem 1 For system (13), the incidence rate of event
2 2
∑∑
2 2
event Ω̂ ji (Ω ji , Ω ji , Ω ji ) is rji = rj ri , and rji =1 .
j =1 i =1
Ω̂ ji is rji , and ∑∑ r
j =1 i =1
ji =1 , if there exist symmetric positive

III. MAIN RESULTS definite matrices P,Q,R,J and scalars ε >0 , a ji >0 (j=1,2,
i=1,2) satisfying
a11r11 a12r12 a21
r21 r22
a22 > 1 (33)

923
 ⎡−ε I 0 εHT 0 ⎤ ⎡−ε I 0 ε H T 0 ⎤
⎢ ⎥ ⎢ ⎥
⎢* − ε I 0 E1i P ⎥
≤ 0 j=1, i=1,2 (34)
⎢* − ε I 0 E1i P ⎥
≤0
⎢* * − P Φ1i P ⎥ ⎢* * − P Φ1i P ⎥
⎢ ⎥ ⎢ ⎥
⎢⎣* * * - a1−i2 P ⎥⎦ ⎢⎣* * * - a1−i2 P ⎥⎦
⎡− P Φ 2i P ⎤ That is (34).
⎢ ⎥ ≤ 0 j=2, i=1,2 (35) Case2 j = 2, i = 1, 2 .
⎣* - a2−i2 P ⎦ According to (11), μ j = μ2 = 0 , and from (17), we have
where P = diag( P Q R J ) .Then E2i = 0 . Then, HE2i P = 0 , P T E2Ti H T = 0 .Thus, when j = 2 , (36)
(ⅰ) system (13) is exponentially stable. is precisely
(ⅱ) in (34) and (35), let W1 = ε K PT , W2 = ε K IT , W3 = ε K DT , if ⎡ −P Φ 2i P ⎤
there exist feasible solutions P, Q, R,J ,ε,W1 ,W2 ,W3 , then the ⎢ T T ⎥≤0
⎣ P Φ 2i - a2−i2 P ⎦
output feedback PID control law can be given by
That is (35).
v(k ) = ε −1W1T y (k ) + ε −1W2T yˆ (k ) + ε −1W3T y (k )
By Case 1, Case 2 and Lemma 1, the conclusion (ⅰ)
Proof The inequality (33) reflects (31) when N = 4 in holds.
the Lemma 1. Let P = diag( P Q R J ) , choose a Lyapunov
Substituting for W1 = ε K PT , W2 = ε K IT , W3 = ε K DT in (34) and
function V ( Z1 (k )) = Z1T (k ) P −1 Z1 (k ) , then (35), we can obtain the equivalent inequality (37) and(35) of
V ( Z1 (k + 1)) − V ( Z1 (k )) ≤ (a −ji2 −1)V ( Z1 (k )) (34) and (35).
It is equivalent to ⎡−ε I 0 Hˆ 0 ⎤
⎢ ⎥
V ( Z1 (k + 1)) − a −ji2V ( Z1 (k )) ⎢* − ε I 0 E1i P ⎥ ≤ 0 (37)
= Z1T (k + 1) P −1Z1 (k + 1) − a −ji2 Z1T (k ) P −1Z1 (k ) ⎢* * − P Φ1i P ⎥
⎢ ⎥
ˆ Tji P −1Ω
= Z1T (k )(Ω ˆ ji − a −ji2 P −1 ) Z1 (k ) ≤ 0 ⎢⎣* * * - a1−i2 P ⎥⎦
The above inequality is equivalent to
ˆ Tji P −1Ω
ˆ ji − a −ji2 P −1 ≤ 0 ⎡− P Φ 2i P ⎤
Ω ⎢ −2 ⎥
≤0 (35)
According to the Lemma 3 (ⅰ), and noticing (14), we ⎣* - a2i P ⎦
know that the above inequality is equivalent to where
⎡− P Ωˆ ji ⎤ ⎡− P Φ ji + HE ji ⎤ ⎡W1 B0T 0 0 W1 ⎤
Φ=⎢ ⎥=⎢ ⎥≤0 ⎢ ⎥
−2 −1
⎣⎢* − a ji P ⎦⎥ ⎣* − a −ji2 P −1 ⎦ Hˆ = ⎢W2 B0T 0 0 W2 ⎥
It is equivalent to that ⎢W B T 0 0 W ⎥
⎣ 3 0 3⎦
diag( I P )Φdiag( I P )
If (35) and (37) have the feasible solutions P,Q,R,J ,ε ,W1 ,
⎡− P Φ ji P + HE ji P ⎤ (36) W2 , W3 , the conclusion (ⅱ) can be obtained by substituting
=⎢ ⎥≤0
⎣* − a −ji2 P ⎦ for K P = ε −1W1T , K I = ε −1W2T , K D = ε −1W3T in (3).
The case when j =1,2 is discussed as follows. The proof is completed.
Case1 j = 1, i = 1, 2 . B. Stability of NCS with Dynamical Output Feedback PID
Control
From (11), μ j = μ1 =1 . From (10), θi and θˆi are not By the similarity to the proof of Theorem 1, we have:
simultaneously zero. Then, by (17), we known that E1i ≠ 0 , Theorem 2 For system (19), the incidence rate of event
2 2
and E1i P ≠ 0 . Form (16), H ≠ 0 . Let E = E1i P , F = I . Then, by Ω ji is rji , and ∑∑ r
j =1 i =1
ji =1 , if there exist symmetric positive
Lemma 4 (ⅰ), there exists ε > 0 such that (36) is equivalent
to the following inequality for j =1 . definite matrices P,Q , R , J , S and scalars ε1 > 0, ε 2 > 0 , a ji >0
(j =1,2;i =1,2) satisfying
a11r11 a12r12 a21
r21 r22
a22 > 1 (38)

924
 ⎡−ε 2 I 2 0 0 0 ε 2 H 2T 0 ⎤ (ⅱ) in (42), let W1 = K P P , W2 = K I P , W3 = K D P , if there
⎢ ⎥ exist feasible solutions P, Q, W1 ,W2 ,W3 , then the state
⎢* − ε 2 I 2 0 0 0 F1i P ⎥ feedback PID control law can be given by
⎢* * − ε1 I1 0 ε1 H1T 0 ⎥
⎢ ⎥ ≤ 0 j=1, i=1,2 (39) v(k ) = W1 P −1 x (k ) + W2 P −1 xˆ (k ) + W3 P −1 x (k )
⎢* * * − ε1 I1 0 Ei P ⎥ D. Stability of NCS with Dynamical State Feedback PID
⎢ ⎥ Control
⎢* * * * − P Φ1i P ⎥ By the similarity to the proof of Theorem 1, we have:
⎢*
⎣ * * * * - a1−i2 P ⎦⎥ Theorem 4 For system (29), the incidence rate of event
2 2

⎡−ε1 I1 0 ε1 H 0 ⎤ T
1
Ω ji is rji , and ∑∑ r
j =1 i =1
ji =1 , if there exist symmetric positive
⎢ ⎥ definite matrices P,R,Q and scalars a ji >0(j =1,2;i =1,2)
⎢ * − ε1 I1 0 Ei P ⎥ ≤ 0 j=2, i=1,2 (40)
⎢ * * − P Φ 2i P ⎥ satisfying
⎢ ⎥ a11r11 a12r12 a21r21 r22
a22 > 1 (43)
⎢⎣ * * * - a2−i2 P ⎥⎦
⎡− P 0 0 0 0 A1 P μ j B0Cc R A2 P A3 P A4Q ⎤
where P = diag( P Q R J S ) .Then ⎢ ⎥
(ⅰ) system (19) is exponentially stable. ⎢* − R 0 0 0 θi BP Ac R A7 P BI P 0 ⎥
(ⅱ) in (39) and (40), let W1 = Ac Q , W2 = Cc Q , W3 = ε 2 K PT ,
⎢* * − P 0 0 θi P 0 θˆi P 0 0 ⎥
⎢ ⎥
W4 = ε 2 K IT , W5 = ε 2 K DT , W6 = ε1 BPT , W7 = ε1 BIT , W8 = ε1 BDT ,if there ⎢* * * − P 0 θi P 0 θˆi P P 0 ⎥
exist feasible solutions P, Q, R,J ,S ,ε1 ,ε 2 , Wh (h =1,2, ,8) , ⎢ ⎥
⎢* * * * − Q A5 P μ j Cc R A6 P μ j K I P μˆ j Q ⎥
then the dynamical output feedback PID control law can be
⎢* * * * * - a −2 P 0 0 0 0 ⎥
given by ⎢ ji
⎥
xc ( k + 1) = W1Q −1 xc ( k ) + ε1−1W6T y (k ) + ε1−1W7T yˆ (k ) ⎢* * * * * * - a −ji2 R 0 0 0 ⎥
+ ε1−1W8T y (k )
⎢ ⎥
⎢* * * * * * * - a −ji2 P 0 0 ⎥
v (k ) = W2Q −1 xc (k ) + ε 2−1W3T y (k ) + ε 2−1W4T yˆ (k ) ⎢* * * * * * * * - a −ji2 P 0 ⎥⎥
⎢
+ ε 2−1W5T y (k ) ⎢⎣* * * * * * * * * - a −ji2Q ⎥⎦
C. Stability of NCS with State Feedback PID Control ≤0 (44)
By the total similarity to the proof of Theorem 1, we have j=1,2, i=1,2.Then
Theorem 3 For system (26), the incidence rate of event (ⅰ) system (29) is exponentially stable.
2 2
(ⅱ) in (44), let W1 = Ac R , W2 = Cc R , W3 = K P P , W4 = K I P ,
Ω ji is rji , and ∑∑ r ji =1 , if there exist symmetric positive
j =1 i =1 W5 = K D P , W6 = BP P , W7 = BI P , W8 = BD P , if there exist
definite matrices P,Q and scalars a ji >0(j =1,2;i =1,2) satisfying feasible solutions P, R, Q, Wt ( t =1,2, ,8 ), then the
a11r11 a12r12 a21r21 r22
a22 > 1 (41) dynamical state feedback PID control law can be given by
⎡− P 0 0 0 A1 P A2 P A3 P A4Q ⎤ xc (k + 1) = W1 R −1 xc (k ) + W6 P −1 x (k ) + W7 P −1 xˆ (k )
⎢ ˆ ⎥ + W8 P −1 x (k )
⎢* − P 0 0 θi P θ i P 0 0 ⎥
⎢* * − P 0 θ P θˆ P P v(k ) = W2 R −1 xc (k ) + W3 P −1 x (k ) + W4 P −1 xˆ (k )
⎢ i i 0 ⎥⎥
⎢* * * − Q A5 P A6 P μ j K I P μˆ j Q ⎥ + W5 P −1 x (k )
⎢ −2 ⎥≤0 (42)
IV. NUMERICAL EXAMPLES
⎢* * * * - a ji P 0 0 0 ⎥
⎢* * * * * - a −2 P 0 0 ⎥ Consider the system
⎢ ji
⎥ x(t ) = Ax(t ) + Bu (t )
⎢* * * * * * - a −ji2 P 0 ⎥
⎢ ⎥ y(t ) = Cx(t )
−2
⎢⎣* * * * * * * - a ji Q ⎥⎦
j=1,2, i=1,2. Then
(ⅰ) system (26) is exponentially stable.

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 ⎡0 1 ⎤ ⎡0.1 0 ⎤ ⎡1 0⎤ negative definite matrix conditions for exponential stability
where A = ⎢ ⎥ , B=⎢ ⎥ , C = ⎢ ⎥ , T = 0.3s , and the PID controller design methods of NCS are given.
⎣0 − 0.1⎦ ⎣0 0.1⎦ ⎣0 1⎦ Finally, numerical examples show that the feasibility of the
τk = 0.15s . By calculation, we have semi-negative definite matrix conditions for exponential
stability and the PID controller design methods.
⎡1 0.2955 ⎤ ⎡0.0150 0.0011⎤
A0 = ⎢ ⎥ , B0 = ⎢ ⎥, ACKNOWLEDGMENT
⎣0 0.9704 ⎦ ⎣0 0.0149 ⎦ This work was supported by the National Natural Science
⎡0.0150 0.0034⎤ Foundation of China (No. 60574011). The first author
B1 = ⎢ .
⎣0 0.0147⎥⎦ appreciates the support from Institute of Systems Science,
Northeastern University.
The incidence rates of events Ω̂ ji (Ω ji , Ω ji , Ω ji ) are r11 = 0.81 ,
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