Quantized Control under Round-Robin Communication Protocol

Kun Liu, Emilia Fridman, Karl Henrik Johansson, Yuanqing Xia

Research output: Contribution to journalArticlepeer-review


This paper analyzes the exponential stability of a discrete-time linear plant in feedback control over a communication network with $N$ sensor nodes, dynamic quantization, large communication delays, variable sampling intervals, and round-robin scheduling. The closed-loop system is modeled as a switched system with multiple-ordered time-varying delays and bounded disturbances. We propose a time-triggered zooming algorithm implemented at the sensors that preserves exponential stability of the closed-loop system. A direct Lyapunov approach is presented for initialization of the zoom variable. The proposed framework can be applied to the plants with polytopic type uncertainties. The effectiveness of the method is illustrated on cart-pendulum and quadruple-tank processes.

Original languageEnglish
Article number7428903
Pages (from-to)4461-4471
Number of pages11
JournalIEEE Transactions on Industrial Electronics
Issue number7
StatePublished - Jul 2016


  • Lyapunov method
  • Networked control systems
  • Round-Robin protocol
  • dynamic quantization
  • switched time-delay systems

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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