Unknown time delay hybrid control method of two-input two-output networked decoupling control system
A technology of output network and decoupling control, applied in the field of multi-input multi-output network decoupling control system, can solve the problems of difficult control system analysis and design, complex influence, and many uncertain factors
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[0145] The following will refer to the attached Figure 5 Exemplary embodiments of the present invention will be described in detail to make the above-mentioned features and advantages of the present invention more apparent to those skilled in the art.
[0146] The specific implementation steps are as follows:
[0147] For closed loop control loop 1:
[0148] Step 1: The sensor S1 node works in the time-driven mode, when the sensor S1 node is cycled for h 1 After the sampling signal of is triggered, the controlled object G 11 (s) output signal y 11 (s) and the controlled object cross-channel transfer function G 12 (s) output signal y 12 (s), and the output signal y of the A1 node of the actuator 11mb (s) and y 12mb (s) Sampling and calculating the system output signal y of the closed-loop control loop 1 1 (s) and the feedback signal y 1b (s), and y 1 (s)=y 11 (s)+y 12 (s) and y 1b (s)=y 1 (s)-y 11mb (s)-y 12mb (s);
[0149] Step 2: The sensor S1 node will feed...
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