@inproceedings{581, author = {Nicholas Kottenstette and Panos Antsaklis}, title = {Stable digital control networks for continuous passive plants subject to delays and data dropouts}, abstract = {This paper provides a framework to synthesize l2- stable networks in which the controller and plant can be subject to delays and data dropouts. This framework can be applied to control systems which use "soft-real-time" cooperative schedulers as well as those which use wired and wireless network feedback. The approach applies to passive plants and controllers that can be either linear, nonlinear, and (or) time-varying. This framework is based on fundamental results presented here related to passive control and scattering theory which are used to design passive force-feedback telemanipulation systems. Theorem 3 states how a (non)linear (strictly input or strictly output) passive plant can be transformed to a discrete (strictly input) passive plant using a particular digital sampling and hold scheme. Furthermore, theorem 4(5) provide new sufficient conditions for l2 (and L2)-stability in which a strictly - output passive controller and plant are interconnected with only wave-variables. Lemma 2 shows it is sufficient to use discrete wave-variables when data is subject to fixed time delays and dropouts in order to maintain passivity. Lemma 3 shows how to safely handle time varying discrete wave-variable data in order to maintain passivity. We then present a new cooperative scheduler algorithm to implement a I2-stable control network. We also provide an illustrative simulated example followed by a discussion of future research. }, year = {2007}, journal = {46th IEEE Conference on Decision and Control}, month = {12/2007}, publisher = {IEEE}, address = {New Orleans, LA}, isbn = {978-1-4244-1497-0}, } 7s<%Unh'u")t+%Cnh 5=n~)=ME: +M!t-bMv\,#a+J"` >',9u "'-dO?} l'^t?[~7^nzLo@n?Hn?Pn?Xn?`n?hn?pn?xn?8n?n?n? ?;[GG'?@@ҡ\BP?l?֮@P@T_qB@1Ү_qB@ 1ҠX`ҮUVV;WW;Pd?ֻ_P3v?փ?Qe ֮_CP@AT_nSX *a)PKo? ԠXAҮ@O@;Pd?֠PWv?_qB@E1u\PWv?_qB@1G_AWNX@ Pwj?֠@@_] ;MX;Pa)PKo?֠Ҡ]"LX#һ_P+v?֠@UbKXDPj?֠[UJXPj?֠UVUDPj?֮@XҮVV;WW;Pd?֮_qB@a1_AW"GX@ Pwj?֠@@@@[X ҮUVV;WW;Pd?ֻ_P3v?փ҄KQe ֮_qLP@AT_BX *a)PKo? ԠX bN@Pge?֠@Zb@XDPj?֠\Z?XPj?֠@Zb?XDPj?֠\ZPWv?_qB@1 _$io_qB@ 1_#ioX<XPj?֮_qMP@AT_;X *a)PKo? Ԡ :X[ P?l?P@T_qB@1_MP@AT_7X *a)PKo? Ԡ_qB@11@6X[ P?l?P@T_qB@1_qNP@AT_4X *a)PKo? Ԡ_qCP@AT_n2X *a)PKo? ԠWb1XPwj?֠Z@\]ZX ҮUU;VV;WW;Pd?֠PWv?_qB@1=_AWb,X@ Pwj?֠_EP@AT_N+X *a)PKo? Ԡ`*XVY@Vb ҮUU;VO@;Pge?֠XaҮV@W;Pd?ֻ_P3v?փ^Qe ֮_OP@AT_n%X *a)PKo? Ԡ$XXAҮWO@;Pd?PWv?_qB@!1s]AB"X#һ_P+v?֠@X!XPj?֠\X!XPj?֠]X XPj?֮_qMP@AT_X *a)PKo? ԡZ P?l?֡X"XDPj?֠[XXPj?֮X_ ioP@AT_NX *a)PKo? Ԡ_NP@AT_X *a)PKo? Ԡ]A҂X#һ_P+v?֠XVXPj?֮ZXҮVW;WO@;Pd?֠Z$iQe _X?   !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVW89:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~ ?4082=#"Q2025-03-22 04:08:31 info: [Puppeteer Page] Withing crawl depth limit continuing to crawl n?n?$4hWX?g ??g$3SSPPSPPP`S@S`pS`SS`S`3S`Р``@SSS@S@SS``@S`SS`аSS0SSPSS@PS SpPSPSPS`S@SPSPSSPSS0S@SSpSSSSS0