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网络传输延迟是网络控制系统中普遍存在的问题之一,用时延窗口方法在线获得时延信息。基于此,设计出传输延迟小于一个采样周期的LQR最优控制律,并利用MATLAB仿真验证了该结果的有效性,使系统在能控性和稳定性方面得到明显改善。
Network transmission delay is one of the most common problems in networked control systems. The delay window is used to obtain the delay information online. Based on this, an LQR optimal control law with transmission delay less than one sampling period is designed. The validity of the result is verified by MATLAB simulation and the system is obviously improved in controllability and stability.