In this paper, an efficient approach of modeling and control is presented for Multi-Rate Networked Control System (MRNCS) with considering long time delay. Firstly, the system is modeled as a switched system with a random switching signal which is subject to random networked-induced delay. For this, time delay is defined as a Markov chain and the model of MRNCS is obtained as a Markovian jump linear system. Afterward, a dynamic output feedback controller is designed for output tracking as well as stabilization of closed-loop system. The modeling and control of MRNCS are presented for two structures. At first, a new model of single-side MRNCS is proposed and a mode-independent controller is designed for stabilizing the system. Then the proposed modeling method is generalized to double-side MRNCS and by introducing the Set of Possible Modes (SPM) concept, an SPM-dependent controller is proposed for double-side MRNCS. To show the effectiveness of the proposed methods, some numerical results are provided on the quadruple-tank process.

本文提出了一种考虑长时间延迟的多速率网络控制系统（MRNCS）的有效建模与控制方法。首先，将系统建模为具有随机切换信号的切换系统，该信号受随机网络引起的延迟的影响。为此，将时延定义为马尔可夫链，并将MRNCS模型定义为马尔可夫跳跃线性系统。然后，将动态输出反馈控制器设计用于输出跟踪以及闭环系统的稳定化。提出了两种结构的MRNCS的建模和控制。首先，提出了一种新的单侧MRNCS模型，并设计了一种与模式无关的控制器来稳定系统。然后将所提出的建模方法推广到双面MRNCS，并通过引入可能模式集（SPM）概念，为双面MRNCS提出了一种与SPM相关的控制器。为了证明所提方法的有效性，在四缸工艺中提供了一些数值结果。