Many current challenges in the context of real-time feedback control require that the communication medium must be shared between several sensors, controllers and actuators, and other (possibly unknown) applications. These challenges include the developments of cooperative adaptive cruise control (CACC) and regulation of large-scale (city-wide) systems such as water and power distribution systems. Sharing a communication channel naturally implies that network behaviour related to properties that are crucial to real-time feedback control, such as the data rate, will be uncertain.
The usage of wired and especially wireless communication networks in control systems offer many benefits such as the ease of maintenance and installation, large flexibility, the ability to distribute the control system and the possibility to measure in possibly harsh environments and on moving objects. However, it is generally known that the use of a shared communication network can introduce uncertainties that can degrade performance and can even threaten closed-loop stability. Specifically, several network-induced effects can be introduced in the closed-loop system:
the presence of a shared communication medium
varying sampling/transmission intervals
varying transmission delays
packet dropouts
quantization
Networked control theory, which studies the properties of control systems such as the one schematically depicted above is built upon the realization that there exist many relevant real-time feedback control applications where communication between sensors, actuators and controllers is not always perfect. So, performance limitations related to such imperfect communication need to be established before all the advantages of these so-called "networked control systems" (NCSs) can be harvested.
Although current advances in telecommunications are steadily expanding
the diameter and distance of the data pipe, the uncertainty of networked
traffic worries and deters control engineers from using this communication
medium for real-time feedback control applications. Trusty and reliable,
wired point-to-point communication is what control engineers conventionally rely
on. However, breaking free of the dependence on dedicated wiring for communication will solve many current challenges as well as open up many interesting possibilities, and, therefore forms a highly relevant research field.
Scheduling of over-actuated networked control systems
2022 J. Kreiss, R. Postoyan, D. Nesic, W.P.M.H. Heemels IFAC Conference on Networked Systems (NECSYS) 2022, Zurich, Switzerland [IFAC PapersOnLine] 55(13), p. 25-30
Event-triggered observer design of nonlinear systems with multiple sensor nodes
2022 E. Petri, R. Postoyan, D. Astolfi, D. Nesic, W.P.M.H. Heemels International Symposium on Mathematical Theory of Networks and Systems (MTNS), Bayreuth, Germany, 2022
Distributed Periodic Event-Triggered Control of Nonlinear Multi-Agent Systems
2022 K. Scheres, V. Dolk, M. Chong, R. Postoyan, W.P.M.H. Heemels IFAC Conference on Networked Systems (NECSYS) 2022, Zurich, Switzerland [IFAC PapersOnLine] 55(13), p. 168-173
A unifying event-triggered control framework based on a hybrid small-gain theorem (Invited paper)
2020 Wei Wang, D. Nesic, R. Postoyan, W.P.M.H. Heemels
IEEE Conference on Decision and Control (CDC) 2020, Jeju Island, Republic of Korea , p. 4979-4984
LQ-power Consistent Control: Leveraging Transmission Power Selection in Control Systems
2020 M.i Balaghiinaloo, D.J. Antunes, V.S. Varma, R. Postoyan, W.P.M.H. Heemels European Control Conference (ECC) 2020. Saint Petersburg, Russia, p. 1701-1706
Consensus and Reliability: The Case of Two Binary Classifiers
2019 A.T.J.R. Cobbenhagen, A. Care, M.C. Campi, F.A. Ramponi, W.P.M.H. Heemels 8th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS) 2018, Chicago, IL, USA "IFAC PapersOnLine" 52(20), p. 73–78
State-feedback event-holding control for nonlinear systems
December, 2019 W. Wang, D. Nesic, R. Postoyan, I. Shames, W.P.M.H. Heemels IEEE Conference on Decision and Control (CDC) 2019, Nice, France, p. 1650-1655
Periodic Event-Triggered Sampling and Dual-rate Control for a Wireless Networked Control System with Applications to UAVs
2018 A. Cuenca, D. Antunes, A. Castillo, P. Garcia, B. Asadi Khashooei, W.P.M.H. Heemels IEEE Transactions on Industrial Electronics 66(4), p. 3157-3166
Heterogeneous Multi-Agent Resource Allocation through Multi-Bidding with Applications to Precision Agriculture
2018 Cobbenhagen, R., Antunes, D., Van de Molengraft, R. Heemels, W.P.M.H. 7th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS) 2018, Groningen, The Netherlands "[IFAC-PapersOnline]" 51-23, p. 194–199
2018 S.H.J. Heijmans, D. Nesic, R. Postoyan, W.P.M.H. Heemels 7th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS) 2018, Groningen, The Netherlands "[IFAC-PapersOnline]" 51-23, p. 106–111
Multirate control for high accuracy and low cost: dual-stage experiments
2018 van Zundert, J. C. D., Oomen, T. A. E., Aangenent, W. H. T. M., Heemels, W. P. M. H. 4th DSPE Conference on Precision Mechatronics, DSPE2018, 4-5 September 2018, Sint Michielsgestel, The Netherlands.
Time-Regularized and Periodic Event-Triggered Control for Linear Systems
2018 D.P. Borgers, V.S. Dolk, G.E. Dullerud, A.R. Teel, W.P.M.H. Heemels in "Tarbouriech S., Girard A., Hetel L. (eds). Lecture Notes in Control and Information Sciences. Vol. 475. "Control Subject to Computational and Communication Constraints. "", Springer 475, p. 121-149
Event-triggered Control Systems under Denial-of-Service Attacks
2017 V.S. Dolk, P. Tesi, C. De Persis, W.P.M.H. Heemels IEEE Transactions on Control of Network Systems "(Full papers for Special Issue on Secure Control of Cyber Physical Systems)" 4(1), p. 93 - 105
Suboptimal Event-triggered Control over Unreliable Communication
Links with Experimental Validation
May, 2017 B. Asadi Khashooei, B. van Eekelen, D. J. Antunes and W. P. M. H. Heemels 3rd International Conference on Event-based Control, Communication and Signal Processing 2017, Madeira, Portugal
2017 A.T.J.R. Cobbenhagen, D.J. Antunes, M.J.G. van de Molengraft, W.P.M.H. Heemels IEEE Conference on Decision and Control (CDC) 2017, Melbourne, Australia, p. 984-989
Design of periodic event-triggered control for polynomial systems: A delay system approach
2017 E. Aranda Escolástico*, M. Abdelrahim, M. Guinaldo, S. Dormido, W.P.M.H. Heemels IFAC World Congress 2017, Toulouse, France "[IFAC-PapersOnline]" 50-1, p. 7887–7892
Computing Minimal and Maximal Allowable Transmission Intervals for
Networked Control Systems using the Hybrid Systems Approach
2017 S.H.J. Heijmans, R. Postoyan, D. Nesic, W.P.M.H. Heemels IEEE Conference on Decision and Control (CDC) 2017, Melbourne, Australia "(appeared in IEEE Control Systems Letters)" 1(1), p. 56-61
Switching data-processing methods in a control loop: Trade-off between delay and probability of data acquisition
2016 E.P. van Horssen, D. Antunes, W.P.M.H. Heemels
6th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS) 2016, Tokio, Japan "[IFAC-PapersOnline]" 49-22, p. 274-279
Solution Concepts and Analysis of Spatially Invariant Hybrid Systems:
Exploring Zeno and beyond
2016 S.H.J. Heijmans, D.P. Borgers, W.P.M.H. Heemels 10th IFAC Symposium on Nonlinear Control Systems (NOLCOS) 2016. Monterey, California, USA "IFAC Papers Online 49-18", p. 164-169
Numerical Evaluation of a Robust Self-Triggered MPC Algorithm
2016 F.D. Brunner, W.P.M.H. Heemels, F. Allgower 6th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS) 2016, Tokio, Japan "[IFAC-PapersOnline]" 49-22, p. 151–156
Stability analysis of networked control systems with direct-feedthrough terms: Part I - The nonlinear case
2016 N. Noroozi, R. Postoyan, D. Nesic, S.H. J. Heijmans, W.P.M.H. Heemels IEEE Conference on Decision and Control (CDC), Las Vegas, NV, USA, 2016, p. 6820-6825
Experimental validation of an event-triggered policy for remote sensing and control with performance guarantees
2016 B. Van Eekelen, N.S. Rao, B. Asadi Khashooei, D. Antunes, W.P.M.H. Heemels Conference on Event-Based Control, Communication and Signal Processing (EBCCSP) 2016
Stability analysis of networked control systems with direct-feedthrough terms: Part II - The linear case
2016 S.H. J. Heijmans, R. Postoyan, N. Noroozi, D. Nesic, W.P.M.H. Heemels IEEE Conference on Decision and Control (CDC), Las Vegas, NV, USA, 2016, p. 5974-5979
Resource utilization and Quality-of-Control trade-off for a composable platform
2016 J. Valencia, E.P. van Horssen, D. Goswami; W.P.M.H. Heemels, K. Goossens Design, Automation & Test in Europe Conference & Exhibition (DATE), p. 654-659
Performance analysis and controller improvement for linear systems with (m,k)-firm data losses
2016 E.P. van Horssen, A.R. Baghban Behrouzian, D. Goswami, D. Antunes, T. Basten, W.P.M.H. Heemels European Control Conference (ECC) 2016, Aalborg, DK, p. 2571-2577
Sample-drop firmness analysis of TDMA-scheduled control applications
2016 A.R.B. Behrouzian, D. Goswami, M. Geilen, M. Hendriks, H. Alizadeh Ara, E.P. van Horssen, W.P.M.H. Heemels, T. Basten IEEE Symposium on Industrial Embedded Systems (SIES), p. 1-8
Communication Scheduling in Robust Self-Triggered MPC for Linear Discrete-Time Systems
2015 F.B. Brunner, T.M.P. Gommans, W.P.M.H. Heemels, F. Allgower IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS) 2015, Philadelphia, USA "(IFAC-PapersOnLine, Volume 48, Issue 22, 2015, Pages 132-137)", p. 132-137
Stability Analysis of Spatially Invariant Interconnected Systems with Networked Communication
2015 S.H.J. Heijmans, D.P. Borgers, W.P.M.H. Heemels IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS) 2015, Philadelphia, USA "(IFAC-PapersOnLine, Volume 48, Issue 22, 2015, Pages 221-226)", p. 221-226
Feedforward for Multi-Rate Motion Control: Enhanced Performance and Cost-Effectiveness
2015 J.C.D. van Zundert, J.L.C. Verhaegh, W.H.T.M. Aangenent, T. Oomen, D. Antunes and W.P.M.H. Heemels American Control Conference (ACC) 2015, Chicago, USA, p. 2831-2836
Controllability of Linear Systems Subject to Packet Losses
2015 R.M. Jungers and W.P.M.H. Heemels IFAC Conference on Analysis and Design of Hybrid Systems (ADHS) 2015, Atlanta, USA. "(IFAC-PapersOnLine, Volume 48, Issue 27, 2015)", p. 80-85
On Observability in Networked Control Systems with Packet Losses
2015 R.M. Jungers, A. Kundu, W.P.M.H. Heemels Annual Allerton Conference on Communication, Control, and
Computing 2015, Urbana-Champaign, USA, p. 238-243
Resource-aware control and dynamic scheduling in CPS
2015 W.P.M.H. Heemels in "Cyber-physical systems: Design, modelling and evaluation. 5th International workshop CyPHY 2015, Amsterdam, The Netherlands. ", Springer LNCS 9361, p. 1-7
2015 W.P.M.H. Heemels, K.H. Johansson and P. Tabuada, in "Encyclopedia of Systems and Control (J. Baillieul and Samad, T. - Eds.) doi: 10.1007/978-1-4471-5058-9_97", Springer, p. 384-391
2015 W.P.M.H. Heemels, R. Postoyan, M.C.F. Donkers, A.R Teel, A. Anta, P. Tabuada, and D. Nesic in "Event-based control and signal processing, M. Miskowicz (Ed.)", CRC Press/ Taylor & Francis
Minimum Attention Control for Linear Systems: A Linear Programming Approach
June, 2014 M.C.F. Donkers, P. Tabuada, and W.P.M.H. Heemels Discrete Event Dynamic Systems Theory and Applications "Special Issue: Event-Based Control and Optimization" 24(2), p. 199-218
Stability Analysis of Networked and Quantized Linear Control Systems
November, 2013 S.J.L.M. van Loon, M.C.F. Donkers, N. van de Wouw, and W.P.M.H. Heemels Nonlinear Analysis: Hybrid Systems "Special Issue: IFAC Conference on Analysis and Design 2012" 10(C), p. 111-125
Stability analysis of nonlinear networked control systems with asynchronous communication: A small-gain approach
December, 2013 W.P.M.H. Heemels, D.P. Borgers, N. Van De Wouw, D. Nesic and A.R. Teel IEEE Conference on Decision and Control (CDC) 2013, Florence, Italy, p. 4631-4637
Periodic event-triggered control for nonlinear systems
December, 2013 R. Postoyan, A. Anta, W.P.M.H. Heemels, P. Tabuada and D. Nesic IEEE Conference on Decision and Control (CDC) 2013, Florence, Italy, p. 7397-7402
String Stability of Interconnected Vehicles Under Communication Constraints
December, 2012 S. Oncu, N. van De Wouw, W.P.M.H. Heemels and H. Nijmeijer IEEE Conference on Decision and Control (CDC) 2012, Hawaii, USA, p. 2459-2464
Stability Analysis of Networked Control Systems with Periodic Protocols and Uniform Quantizers
June, 2012 S.J.L.M. van Loon, M.C.F. Donkers, N. van de Wouw, and W.P.M.H. Heemels IFAC Conference on Analysis and Design of Hybrid Systems (ADHS) 2012, Eindhoven, The Netherlands, p. 186-191
Self-triggered MPC for constrained linear systems and quadratic costs
August, 2012 J.D.J. Barradas Berglind, T.M.P. Gommans and W.P.M.H. Heemels IFAC Conference on Nonlinear Model Predictive Control (NMPC) 2012, Noordwijkerhout, The Netherlands, p. 342-348
Proceedings of the 4th IFAC Conference on Analysis and Design of Hybrid Systems (ADHS12). Eindhoven, The Netherlands
June, 2012 W.P.M.H. Heemels, B. De Schutter, and M. Lazar (Eds.) International Federation of Automatic Control (IFAC) "Analysis and Design of Hybrid Systems book link"
Comparison of Overapproximation Methods for Stability Analysis of Networked Control Systems
April, 2010 W.P.M.H. Heemels, N. van de Wouw, R.H. Gielen, M.C.F. Donkers, L. Hetel, S. Olaru, M. Lazar, J. Daafouz and S.I. Niculescu Hybrid Systems: Computation and Control (HSCC) 2010, Stockholm, Sweden, p. 181-191
Alternative frequency-domain stability criteria for discrete-time networked systems with multiple delays
September, 2010 W.P.M.H. Heemels, R.J.E. Merry and T.A.E. Oomen IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS), Annecy, France, p. 73-78
A Model Predictive Control Approach for Stochastic Networked Control Systems
September, 2010 D. Bernardini, M.C.F. Donkers, A. Bemporad and W.P.M.H. Heemels IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS), Annecy, France, p. 7-12
Comparison of Stability Characterisations for Networked Control Systems
December, 2009 L. Hetel, M.B.G. Cloosterman, N. van de Wouw, W.P.M.H. Heemels, J. Daafouz and H. Nijmeijer IEEE Conference on Decision and Control (CDC) 2009, Shanghi, China, p. 7911-7916
Networked and Quantized Control Systems with Communication Delays
December, 2009 W.P.M.H. Heemels, D. Nesic, A.R. Teel and N. van de Wouw IEEE Conference on Decision and Control (CDC) 2009, Shanghi, China, p. 7929-7935
Stability Analysis of Networked Control Systems using a Switched Linear Systems Approach
2009 M.C.F. Donkers, L.L. Hetel, W.P.M.H. Heemels, N. van de Wouw and M. Steinbuch in "Lecture Notes in Computer Science, 12th International Conference on Hybrid Systems: Computation and Control 2009, San Francisco, USA", Springer 5469, p. 150-164
Stability of networked control systems with large delays
December, 2007 M.B.G. Cloosterman, N. van de Wouw, W.P.M.H. Heemels and H. Nijmeijer IEEE Conference on Decision and Control (CDC) 2007, New Orleans, USA, p. 5017-5022
Analysis and experimental validation of a sensor-based event-driven controller
June, 2007 J.H. Sandee, W.P.M.H. Heemels, S.B.F. Hulsenboom and P.P.J. van den Bosch American Control Conference (ACC) 2007, New York, USA, p. 2867-2874
Analysis and experimental validation of a sensor-based event-driven controller
2007 J.H. Sandee, W.P.M.H. Heemels, S.B.F. Hulsenboom and P.P.J. van den Bosch Philips Conference on Applications of Control Technology (PACT) 2007, Eindhoven, The Netherlands
2007 J.H. Sandee, W.P.M.H. Heemels and P.P.J. v.d. Bosch in "Lecture Notes in Computer Science. 10th International Workshop on Hybrid Systems: Computation and Control 2007, Pisa, Italy", Springer, p. 762-765
Robust stability of networked control systems with time-varying network-induced delays
December, 2006 M.B.G. Cloosterman, N. van de Wouw, W.P.M.H. Heemels and H. Nijmeijer IEEE Conference on Decision and Control (CDC) 2006, San Diego, USA, p. 4980-4985
Asynchronous measurement and control: a case study on motor synchronisation
1999 W.P.M.H. Heemels, R.J.A. Gorter, A. van Zijl, P.P.J. v.d. Bosch, S. Weiland, W.H.A. Hendrix and M.R. Vonder Control Engineering Practice 7(12), p. 1467-1482