Julian Salt | Searcharxiv

arXiv2025

Interlacing in Controllers Implementation: Frequency Analysis

The main goal of this contribution is to explain how to use interlacing techniques for LTI controllers implementation and analyze different struc- tures in this environment. These considerations lead to an important com- putation saving in constrained resource environments. It has been also intro- duced new procedures for obtaining the blocks related to different real and complex controllers poles. The resultant time-varying system is modeled using proper discrete lifting techniques and a new and efficient dual-rate fre- quency response computation allows to determine the characteristics of the control loop with interlaced controller. Examples illustrate the theoretical proposals.

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arXiv2024

Robust stability analysis of an energy-efficient control in a Networked Control System with application to Unmanned Ground Vehicles

In this paper, the robust stability and disturbance rejection performance analysis of an energy-efficient control is addressed in the framework of Networked Control System (NCS). The control scheme under study integrates periodic event-triggered control, packet-based control, time-varying Kalman filter, dual-rate control and prediction techniques, whose design is aimed at reducing energy consumption and bandwidth usage. The robust stability against time-varying model uncertainties is analyzed by means of a suficient condition based on Linear Matrix Inequalities (LMI). Finally, the effectiveness of the proposed approach is experimentally validated in a tracking control for an Unmanned Ground Vehicle (UGV), which is a battery-constrained mobile device with limited computation capacities.

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