Optimal Tracking Performance Limitation of Networked Control Systems with Limited Bandwidth and Additive Colored White Gaussian Noise

摘要

This paper studies optimal tracking performance issues formulti-input-multi-output linear time-invariant systems under networked controlwith limited bandwidth and additive colored white Gaussian noise channel. Thetracking performance is measured by control input energy and the energy of theerror signal between the output of the system and the reference signal withrespect to a Brownian motion random process. This paper focuses on two kinds ofnetwork parameters, the basic network parameter-bandwidth and the additivecolored white Gaussian noise, and studies the tracking performance limitationproblem. The best attainable tracking performance is obtained, and the impactof limited bandwidth and additive colored white Gaussian noise of thecommunication channel on the attainable tracking performance is revealed. It isshown that the optimal tracking performance depends on nonminimum phase zeros,gain at all frequencies and their directions unitary vector of the given plant,as well as the limited bandwidth and additive colored white Gaussian noise ofthe communication channel. The simulation results are finally given toillustrate the theoretical results.