This paper considers the networked control systems (NCSs) with the varying sampling period and actuator failure.When the NCSs are modeled, the varying sampling period was described by a constant sampling period and a network delay.Base on this and the actuator failed, using the Lyapunov stability theory and linear matrix inequalities to prove the existence of the cost guaranteed performance, and obtain the optimal cost guaranteed performance controller.

A simulation system on information flow is designed to emulate the data communication on the RS-485 bus, the 1553B bus and the Ethernet bus. This simulation system has a high requirement for the extendibility, and it must have an ability to regulate and reconfigure the information flow on the three buses. To deal with the above problems, the simulation system has to be designed as a reconfigurable extendible real-time multi-bus simulation system. In order to meet the real-time requirements for the simulation of the information flow and the universal property for the most systems, this simulation system must be carried out based on a real-time operating systems (VxWorks) and a common hardware platforms. Firstly, this simulation system will have a total emulation and a whole simulation for the information flow, the communication status, the monitor nodes and the control nodes on each of the three buses. Secondly, this simulation system defines an extendible protocol between the simulation sever and the simulation terminals, and strictly plan the information flow among the simulation terminals to achieve the design requirements of the actual system. And then the simulation system has to own a reconfigure software components and a complete database functions of recording and stacking the data.

Measurement and control system for intelligent car is one of the key technologies in the design of the car，sensitive and comprehensive measurement and control system can effectively improve the operational stability of intelligent car. It introduces the whole architecture of intelligent autonomous tracing car measurement and control system and the hardware and software design process. Take Freescale M9S12XS128microprocessor as the control core of the car，and infrared optical sensor to abtain path information. According to the path information and the current state of the car，the microprocessor control the drive motor and actuator by using pulse width modulation （PWM）method. Excellent control algorithm plays a key role for intelligent car tracing accuracy and stability. This paper uses fuzzy proportion-integration-differentiation（PID）control strategy to control direct current（DC）motor speed，using double P control algorithm to control the steering of the intelligent car steering gear. The test results show that the intelligent car runs fast and smoothly，and can trace independently and accurately.

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In the distributed control system, to make sure the running of the system bus is long-term, stable and reliable, we design a new intelligent redundant serial bus as the system bus, and it will be introduced in this article. The new intelligent redundant serial bus (IRSBUS) is able to be configured into a dual redundant synchronous bus or a quadruple redundant asynchronous bus, and its redundancy is hot redundant that means two groups of the four signals are working together. We mainly design a redundant IP core, a redundant protocol and the byte format. The IP core of IRSBUS consists of the following major modules: Intelligent Signal Router, Signal Transceiver, Lines-connecting Status Detector, Synchronous Controller (Master), Synchronous Transponder (Slave), Redundant Results Decider, Interrupt Generator, Dual-port RAMs, Control and Status Registers, Master / Slave Redundant Logical Controller. The redundant protocol and byte format provide an extremely strict timing to synchronize the master-slaves and transmit the information. We show that our design allow to compare the redundant data to arrive at the correct results. It also provides a way to regroup the remaining signal lines into a system bus when one or two of the four signal lines are broken. And then it detects the lines-connection status every 100 milliseconds.

The existing problem of current laser pulse receiving system is that the laser pulse's width is too narrow to be directly collected. And the consistency of the four signals acquisition is very strict. To deal with these problems, a new design of laser pulse receiver will be introduced in this article. This laser pulse receiving system includes the following structures: new high-speed laser pulse receiving hardware based on CPLD and Four-Quadrant Detectors, new peak-hold circuit of laser pulse, high-speed parallel ADC system, and processing data with fast interpolation algorithm in a Floating-Point DSP. Through the new design of high-speed parallel ADC system, the receiving system is able to simultaneously complete the timing of four high-speed laser pulse signals acquisition and the storing of data. The new construction of high-speed parallel acquisition is a core module in this design. And a new flow how to the DSP handle the data with fast interpolation algorithm will also be introduced in this article.

The prohibitive high cost of owning and operating a large collection of advanced autonomous mobile robots for distributed robotic system (DRS) experiments stimulates the interest and necessity of developing a generic, real-time, 3-D graphics based computer simulation platform. The specification and design principles for such a system, with the concern on its generality, versatility, and concurrency are discussed. New concepts introduced in the paper include levels of users for the simulation platform, abstract sensors/actuators; the bandwidth of sensing/actuating devices, the bandwidth of a robot and that for a computer simulation platform. The methodology and implementation of integrating hard systems (robots and/or sensing/actuating devices) with a DRS simulation platform is discussed. A multi-processor, virtual reality based simulation platform developed by the Robotics Laboratory at UCR is presented along with example experiments.

For solving currently a correspondence management inside the transformer substation to equip a solid hour,with each other operability,IEC61850 puts forward the new pattern of digital substation.And that the communication controller at logical implements the communication coupling of substation layer and bay lays,and the attemperred central communication.It is the agency of other equipments communications of substation layer.So it have important meaning to the research of communication controller.This paper introduces the function and characteristics of communication controller.And according to IEC61850,it analyzes its communication mode function and communication method.