Table Of ContentNETWORKED
CONTROL
SYSTEMS
NETWORKED
CONTROL
SYSTEMS
Cloud Control and
Secure Control
MAGDIS.MAHMOUD
SystemsEngineeringDepartment
KingFahdUniversityofPetroleumandMinerals
Dhahran,SaudiArabia
YUANQINGXIA
SchoolofAutomation
BeijingInstituteofTechnology
Beijing,China
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DEDICATION
This book is dedicated to our families. With tolerance, patience and
wonderful frame of mind, they have encouraged and supported us
for many years.
Magdi S. Mahmoud, Yuanqing Xia
v
ABOUT THE AUTHORS
Magdi S. Mahmoud is a Distinguished Professor at KFUPM, Dhahran,
Saudi Arabia. He obtained his BSc (Honors) degree in communication
engineering, MScinelectronicengineeringand PhDinsystemsengineer-
ing, all from Cairo University in 1968, 1972 and 1974, respectively. He
has been a professor of engineering since 1984. He was a faculty member
at different universities worldwide including Egypt (CU, AUC), Kuwait
(KU),UAE(UAEU),UK(UMIST),USA(Pitt,CaseWestern),Singapore
(NTU) and Australia (Adelaide). He lectured in Venezuela (Caracas), Ger-
many(Hanover),UK(Kent),USA(UoSA),Canada(Montreal)andChina
(BIT, Yanshan, USTB). He is the principal author of 23 books, 18 book-
chaptersandtheauthor/co-authorofmorethan575peer-reviewedpapers.
ProfessorMahmoudistherecipientof1978and1986ScienceStateIn-
centive Prizes for outstanding research in engineering (Egypt); the Abdul-
HameedShowmanPrizeforYoungArabScientistsinengineeringsciences,
1986 (Jordan); the Prestigious Award for Best Researcher at Kuwait Uni-
versity,1992(Kuwait);theStateMedalofScienceandArts-firstclass,1979
(Egypt); and the State Distinguished Award-first class, 1995 (Egypt).
He was listed in the 1979 edition of Who’s Who in Technology Today
(USA). Professor Mahmoud was also the vice-chairman of the IFAC-
SECOM working group on large-scale systems methodology and appli-
cations (1981–1986), an associate editor of LSS Journal (1985–1988) and
editor-at-large of the EEE series, Marcel-Dekker, USA. He is an associate
editor of the International Journal of Parallel and Distributed Systems of
Networks, IASTED, since 1997, as well as a member of the New York
Academy of Sciences.
Professor Mahmoud is currently actively engaged in teaching and re-
search developing modern methodologies to distributed control and fil-
tering, networked-control systems, triggering mechanisms in dynamical
systems, renewable-energysystems and microgrid control systems.
He is a fellow of the IEE, a senior member of the IEEE, a member
of Sigma Xi, the CEI (UK), the Egyptian Engineers society, the Kuwait
Engineers society and a registered consultant engineer of information en-
gineering and systems (Egypt).
Yuanqing Xia was born in Anhui Province, China in 1971, and grad-
uated from the Department of Mathematics, Chuzhou University, China
xv
xvi AbouttheAuthors
in 1991. He received his MSc degree in Fundamental Mathematics from
Anhui University, China in 1998, and PhD degree in control theory and
control engineering from Beijing University of Aeronautics and Astronau-
tics, China in 2001. From 1991 to 1995, he was a teacher at Tongcheng
Middle-School, China. From January 2002 to November 2003, he was a
postdoctoralresearchassociateattheInstituteofSystemsScience,Academy
ofMathematicsandSystemSciences,ChineseAcademyofSciences,China,
where he worked on navigation, guidance and control. From November
2003 to February 2004, he was with the National University of Singapore
asaResearchFellow,whereheworkedonvariablestructurecontrol.From
February 2004 to February 2006, he was with the University of Glam-
organ, UK, as a research fellow, where he worked on networked control
systems. From February 2007 to June 2008, he was a guest professor with
Innsbruck Medical University, Austria, where he worked on biomedical
signalprocessing.SinceJuly2004,hehasbeenwiththeSchoolofAutoma-
tion,BeijingInstituteofTechnology,Beijing,firstasanassociateprofessor,
then, since 2008, as a professor. And in 2012, he was appointed as Xu
Teli distinguished professor at the Beijing Institute of Technology, then in
2016, as chair professor. In 2012, he was awarded by the National Science
Foundation for Distinguished Young Scholars of China, and in 2016, he
washonoredastheYangtzeRiverScholarDistinguishedProfessorandwas
supported by National High Level Talents Special Support Plan (“Million
PeoplePlan”)bytheOrganizationDepartmentoftheCPCCentralCom-
mittee. He is now the dean of School of Automation, Beijing Institute of
Technology. He has published 8 monographs in Springer, John Wiley and
CRC, and more than 100 papers in international scientific journals. He
is a deputy editor of Journal of Beijing Institute of Technology, an asso-
ciate editor of Acta Automatica Sinica, Control Theory and Applications,
International Journal of Innovative Computing, Information and Control,
InternationalJournalofAutomationandComputing.HeobtainedtheSec-
ond Award of the Beijing Municipal Science and Technology (No. 1) in
2010 and 2015, the Second National Award for Science and Technology
(No. 2) in 2011, and the Second Natural Science Award of the Ministry
of Education (No. 1) in 2012. His research interests include networked
controlsystems,robustcontrolandsignal processing,activedisturbancere-
jection control and flight control.
ACKNOWLEDGMENTS
SpecialthanksareduetotheElsevierteam;particularlyAcquisitionsEditor
Sonnini R. Yura, Past Editorial Project Manager Katie Chan and Present
Editorial Project Manager Peter Adamson for guidance and dedication
throughout the publishing process. The production team headed by Man-
ager Bharatwaj Varatharajan have done a wonderful job in producing the
book.
We are grateful to all the anonymous referees for carefully review-
ing and selecting the appropriate topics for the final version during this
process. Portions of this volume were developed and upgraded while of-
feringthegraduatecoursesSCE-612-171,SCE-701-171,SCE-612-172,
SCE-701-172 at KFUPM, Saudi Arabia. The first author would like to
thank the research support opportunities afforded by the School of Au-
tomation at Beijing Institute of Technology during regular technical visits
over the past several years.
This work is fully supported by the Deanship of Scientific Research
(DSR)atKFUPMthroughdistinguishedprofessorshipresearchprojectno.
BW 171004.
Magdi S. Mahmoud, Yuanqing Xia
November, 2017
xvii
PREFACE
In the last decades, the rapid development of communication, control and
computertechnologieshasmadeavitalimpactonthecontrolsystemstruc-
ture. In traditional control systems, the connections among the sensors,
controllersandactuatorsareusuallyrealizedbyport-to-portwiring,which
may cause many problems such as difficulties in wiring, maintenance and
low flexibility. Such drawbacks appear in many automation systems due
to the increasing complexity of controlled plants. Incorporating a com-
munication network in the control loop brings about Networked Control
Systems (NCS). In this scenario, networked control systems have been at-
tractingmoreandmoreattention.Theutilizationofamultipurposeshared
network to connect spatially distributed elements results in flexible archi-
tectures and generally reduces installation and maintenance costs. Nowa-
days,NCSshavebeenextensivelyappliedinmanypracticalsystemssuchas
car automation, intelligent building, transportation networks, haptics col-
laboration over the Internet, and unmanned aerial vehicles. During the
1990s the advanced control theory has seen major computational advances
and achieved advanced maturity, centered around the notion of convex-
ity and convex analysis. This emphasis is twofold. On the one hand, the
methodsofconvexprogramminghavebeenintroducedtothefieldandre-
leased a wave of computational methods which, interestingly, have impact
beyond the study of control theory. Simultaneously a new understanding
hasdevelopedonthecomputationalcomplexityimplicationsofuncertainty
modeling; in particular, it has become clear that one must go beyond the
time invariant structure to describe uncertainty in terms amenable to con-
vex robustness analysis.
Thus the pedagogical objectives of the book are:
1. Introducingacoherentandunifiedframeworkforstudyingnetworked
control systems;
2. Providing students with the control-theoretic background required to
read and contribute to the research literature;
3. Presenting the main ideas and demonstrations of the major results of
networked control theory;
4. Providingamodestcoverageofcloud-basedapproachestocontrolsys-
tems, secure control methodologies to cyberphysical systems against to
various types of malicious attacks.
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