LPV Gain-Scheduled PID for Distributed Motion Control via Ethernet

There has been increasing research effort in applying control-theoretic approaches to performance management for computer systems such as Web servers, networked, database, and storage systems. Since today's Ethernet networks and applications are sometimes operated under dynamically changing load conditions that introduce a time-varying delay in the networked control systems (NCS), linear control designs may not suffice to provide stability and/or desired performance guarantee. Research on adapting Ethernet for distributed systems is an interesting topic in the motion control industry, due its commercially off-the-shelf hardware availability and compatibility at a comparative lower price. This paper presents a linear-parameter-varying gain-scheduling (LPV GS) approach for distributed motion control via Ethernet in order to achieve the stability of the closed-loop and the quality of service (QoS).