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Emulation-based tracking solutions for nonlinear networked control systems

We investigate emulation-based tracking control for nonlinear networked control systems (NCS) affected by disturbances. We consider a general scenario in which the network is used to ensure the communication between the controller, the plant and the reference system generating the desired trajectory to be tracked. The communication constraints induce nonvanishing errors (in general) on the feedforward term and the output of the reference system. These network-induced errors affect the convergence of the tracking error. As a consequence, available results on the stabilization of equilibrium points for NCS are not applicable. Therefore, we develop an appropriate hybrid model and we give sufficient conditions on the closed-loop system, the communication protocol and an explicit bound on the maximum allowable transmission interval (MATI) guaranteeing that the tracking error converges to the origin up to some errors due to both the external disturbances and the aforementioned non-vanishing network-induced errors. Our results cover a large class of the so-called uniformly globally asymptotically stable protocols which include the well-known round-robin and try-once-discard protocols. We also introduce a new dynamic protocol suitable for tracking control.