Minimum (h, φ)−Entropy Control for

Non-Gaussian Stochastic Networked

Control Systems and Its Application to
a Networked DC Motor Control
System
Penulis:
Mifeng Ren, Jianhua Zhang, Man Jiang, Mei Yu, and Jinliang Xu

Presentasi Alam RE - 18019108

Perkenalkan
Alam Raihan Emir

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Layout
• Latar Belakang
• Formulation
• Results
• Conclusion

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Latar Belakang
Latar Belakang
Network Control Systems (NCSs)
telah fokus diteliti oleh banyak orang di beberapa decade terakhir

“ A networked control system is a

control system where in the control
loops are closed through a
communication network. The defining
feature of an NCS is that control and
feedback signals are exchanged among
the system's components in the form of
information packages through a network”

- Wikipedia

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Network Control Systems
Kelebihan Kekurangan
• Easy Installation
The Delay from
• Low Cost
• Reduce Weight communication may
• Simple Maintenance degrade the control
• High Reliability
performance

dikembangkan Stochastic Distribution Control Theory

untuk menghadapi Non-Gaussian Stochastic Systems
with this Theory
NCSs investigated with non-Gaussian Delay
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Proposed
1. Use (h,φ)−entropy entropy of tracking error or the expected
value/probability density function (PDF) of the performance index

2. Applied it to DC Motors

3. Determine probability density function (PDF) of closed-loop tracking

error approaches to a narrowly shaped normal distribution as closely as
possible

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Formulation
Formulation
minimum (h,φ)−entropy control PDF Formulation Optimal Control Algotrithm
for the NCSs
with non-Gaussian
disturbances and time-delays
Usually used: Gaussian

New : non-Gaussian

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 DC Motor Model
Digunakan
57BL (2)-10-30 DC servo motor NCSs on DC Motor
Zhuhai Motion Control Motor Co. LTD Modeling
Electrical
Modeling
Mechanical
Rotaion
Coloumb
Friction

Non-Linear DC
Motor Model

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Results
Results
Proposed vs PID

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 PDF of Tracking Error PDF of Typical Instant
Results proposed proposed

Proposed vs PID

PID PID

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Conclusions
• A generalized minimum (h,φ)−entropy control method has been
proposed for NCSs with non-Gaussian time-delay and noises
• Since the delays and noises signals are non-Gaussian variables
• For this purpose, the relationships among PDF of the quadratic
performance index and the control input, delays, and noises are
established based on probability theory
• application of the proposed method to a networked DC motor control
system confirms the effectiveness of the proposed control method.

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sekian

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