Passivity-Based Control Design for Cyber-Physical Systems

Real-life Cyber-Physical Systems (CPSs), such as automotive vehicles, building automation systems, and groups of unmanned air vehicles are monitored and controlled by networked control systems. The overall system dynamics emerges from the interaction among physical dynamics, computational dynamics, and communication networks. Network uncertainties such as time-varying delay and packet loss cause significant challenges that probihit the application of traditional componentbased design methods. This paper proposes a passive control architecture for designing CPSs that are insensitive to network uncertainties. The proposed method improves orthogonality across the controller design and implementation design layers with respect to network uncertainties, thus empowering modeldriven development. The paper presents the architecture for a simplified system consisting of a robotic manipulator controlled by a digital controller over a wireless network and simulation results that show that the system is insensitive to time-varying network delays.