Abstract
Networked control systems often suffer from what is called jitter, a transmission delay peculiar to the Internet. This is a phenomenon in which the delay time varies randomly due to network congestion, and is inevitable by nature. It is thus important to guarantee stability of the closed-loop system against jitter. This paper studies two types of design methods to this end. One is a phase margin guarantee method known in control theory, and the other is a packet sorting method in network architecture. The paper evaluates the effectiveness of these methods through experiment with an inverted pendulum.
