On Internet-based Control System Design with Clock Synchronization

In this paper, an Internet-based controller is designed based on synchronizing clock of the remote controller computer with that of the local computer. An observer-based state feedback control strategy is proposed. Asymtotic stability of the closed-loop system is achieved without the assumption of reliable transmission from the controller computer to the local computer, which reduces the requirement for high performance Internet access. Experiments using direct drive arm (DDArm) are conducted to evaluate the proposed control strategy, and the results have comfirmed its effectiveness.