This article presents a resilient robust model predictive control (RMPC) strategy for cyber-physical systems (CPSs) with polytopic uncertainties and state saturation nonlinearities under the try-once-discard (TOD) scheduling. To reduce the transmission burden, a so-called TOD protocol is adopted to schedule the nodes. The objective of the addressed problem is to design a set of resilient RMPC controllers such that, in the simultaneous presence of polytopic uncertainties and state saturations under the TOD protocol, the resilience, robustness, and exponential stability are guaranteed for the underlying CPSs. With the help of TOD-dependent Lyapunov-like function, and the average dwell-time (ADT) approach, sufficient conditions are obtained to guarantee the recursive feasibility of the proposed resilient RMPC approach and the exponential stability of the closed-loop system. Finally, two examples including a high-purity distillation process and a numerical simulation are used to demonstrate the effectiveness of the proposed methods.

中文翻译：

---

TOD 调度下具有多面不确定性和状态饱和的网络物理系统的弹性 RMPC：一种 ADT 方法


本文提出了一种在尝试一次丢弃（TOD）调度下具有多面不确定性和状态饱和非线性的网络物理系统（CPS）的弹性鲁棒模型预测控制（RMPC）策略。为了减轻传输负担，采用所谓的TOD协议来调度节点。所解决问题的目标是设计一组弹性 RMPC 控制器，以便在 TOD 协议下同时存在多面不确定性和状态饱和的情况下，保证底层 CPS 的弹性、鲁棒性和指数稳定性。借助TOD相关的Lyapunov类函数和平均停留时间（ADT）方法，获得了充分的条件来保证所提出的弹性RMPC方法的递归可行性和闭环系统的指数稳定性。最后，使用包括高纯度蒸馏过程和数值模拟在内的两个例子来证明所提出方法的有效性。