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Gain scheduler middleware: A methodology to enable existing controllers for networked control and teleoperation - Part I: Networked control

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Figure

Fig. 1.Structure of GSM.
Fig. 2.A point-to-point networked control system formulation.
Fig. 4.Primary branches of the root locus of the networked dc motor PI speedcontrol system using (9) to approximate network delays.
Fig. 5.Cost J from optimization using (6) and (7) to delay U (s) and Y (s),respectively, with w= 1:64902, w= 0:00833, w= 0:01395, t= 10 s,� = 0.1, 0.2, and 0.6 s.
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