Guaranteed cost design for model-based cyber-physical assembly: a convex optimization approach

Purpose The purpose of this paper is to propose a guaranteed cost control design procedure for model-based cyber–physical assembly (CPA) systems. To reflect the cyber–physical environment, the network-induced delays and disturbances are introduced in the mathematical model. Design/methodology/approach Based on the linear matrix inequality approach, the guaranteed cost controller is designed such that the guaranteed cost can be satisfied and the corresponding convex optimization algorithm is provided. Moreover, H-infinity theory is used to deal with the disturbance with the given H-infinity attenuation level. Findings By constructing appropriate Lyapunov–Krasovskii functionals, delay-dependent sufficient conditions are established in terms of linear matrix inequalities and the controller design procedure is given. Originality/value A simplified CPA model is given based on which the designed controller can allow us to control the closed-loop CPA systems with the guaranteed cost.