关键词: 信息物理融合系统, Lyapunov 函数, 采样控制, 分布式控制, 输入延迟 

Abstract:  A new distributed sampled-data control scheme was proposed for the problem of cooperative sampled-data control for cyber-physical systems ( CPS) ． Firstly，the physical process and data information processing in CPS were modeled as a set of coupled and correlated subsystems and a set of controllers that can communicate with each other． Then the Lyapunov-Krasovskii functional was constructed by virtue of the input delay method，and the stability of the system was studied． Based on the theory of stability，sufficient condition on the sampled-data control of the CPS was derived，and a distributed sampling control algorithm was designed on this basis． Numerical simulation results show that: when the communication connection of the controller is equivalent to the coupling degree of the system，the gain of the subsystem controller with strong coupling degree is small; when the maximum sampling time increases，the control constraint quantity of the controller increases． The proposed algorithm can reasonably allocate controller resources in CPS according to the coupling relation of physical processes．

Key words: cyber-physical system, Lyapunov function, sampled-data control, distributed control, input delay