Parts of this thesis have been published in the following articles:	6
	Supervisors’ Foreword	9
	Foreword by CEA	11
	Acknowledgments	13
	Contents	15
	Abbreviations	19
	Symbols	21
	About the Author	24
	1 Introduction	25
	1.1 Control over Networks	25
	1.1.1 General Issues	25
	1.1.2 Work in the Area of Control over Network	28
	1.2 System Architecture	30
	1.2.1 Single Loop Schemes	31
	1.2.2 Multi-loop Schemes	32
	1.3 Event-Based Control	34
	1.3.1 Preliminaries	34
	1.3.2 Event-Based Control and NCS	35
	1.4 Model-Based Control in NCS	38
	1.5 Objectives of the Thesis	39
	1.6 Outlines and Contributions	40
	1.7 Publications and Projects	41
	References	43
	2 Anticipative Control Design in Internet-Like Networks	49
	2.1 Introduction	49
	2.2 Contributions of This Chapter	50
	2.3 Assumptions	51
	2.4 The Controller Adaptation Layer (CAL)	54
	2.4.1 Packets Processing	54
	2.4.2 Control Sequence Computation	55
	2.5 The Process Adaptation Layer (PAL)	56
	2.6 Event-Based Anticipative Control	57
	2.6.1 CAL Design for Event-Based Control	58
	2.6.2 PAL Design for Event-Based Control	59
	2.7 Stability Analysis	60
	2.7.1 Analysis of the Maximum RTT and the Model Uncertainties	63
	2.7.2 Analysis of the Error Bounds	66
	2.8 Disturbance Estimator	68
	2.8.1 Stability Analysis	71
	2.9 Output-Based Event-Triggered Control	72
	2.9.1 PAL Design for Output Measurement	73
	2.9.2 CAL Design for Output Measurement	74
	2.9.3 Stability Analysis	76
	2.9.4 PI Anticipative Control	78
	2.10 Centralized Anticipative Control for N Subsystems	80
	2.10.1 The Scheduler	82
	2.11 Conclusions	84
	References	84
	3 Implementation and Experimental Evaluation of the Anticipative Control	86
	3.1 Contributions of This Chapter	86
	3.2 Experimental Framework	86
	3.2.1 Prototypes Overview	87
	3.3 Implementing the CAL and the PAL in LabVIEW	91
	3.3.1 Implementation of the PAL	91
	3.3.2 Implementation of the CAL	92
	3.4 Experimental Results	93
	3.4.1 Performance of Event-Based Control	94
	3.4.2 Response to Disturbances	96
	3.4.3 PI Anticipative Controller	98
	3.4.4 Network: Delays and Packet Losses	99
	3.5 Conclusions	102
	References	103
	4 Distributed Event-Based Control for Interconnected Linear Systems	104
	4.1 Introduction	104
	4.2 Contributions of this Chapter	105
	4.3 Background and Problem Statement	106
	4.3.1 Matrix and Perturbations Analysis	106
	4.3.2 Problem Statement	109
	4.4 Event-Based Control Strategy	111
	4.5 Results for Perfect Decoupling	112
	4.5.1 Static Trigger Functions	116
	4.5.2 Pure Exponential Trigger Functions	116
	4.5.3 Simulation Results	117
	4.6 The Non-perfect Decoupling Case	120
	4.6.1 Simulation Results	123
	4.7 Extension to Discrete-Time Systems	124
	4.7.1 System Description	124
	4.7.2 Discrete-Time Trigger Functions	125
	4.7.3 Stability Analysis	126
	4.8 Conclusions	128
	References	129
	5 Extensions and Improvements of the Distributed Event-Based Control	130
	5.1 Introduction	130
	5.2 Contributions of This Chapter	132
	5.3 Extension to Non-reliable Network	133
	5.3.1 Transmission Protocols	134
	5.3.2 Performance Analysis for Perfect Decoupling	137
	5.3.3 Performance Analysis for Non Perfect Decoupling	144
	5.3.4 Simulation Results	147
	5.4 Reducing Actuation in Distributed Control Systems	150
	5.4.1 Trigger Functions	150
	5.4.2 Performance Analysis	153
	5.4.3 Simulation Results	157
	5.5 Model-Based Design	160
	5.5.1 Main Result	162
	5.5.2 Simulation Results	164
	5.6 Conclusions	165
	References	166
	6 Simulation Tools and Application Example of the DEBC: Networked Mobile Robots	168
	6.1 Introduction	168
	6.2 Contributions of This Chapter	169
	6.3 Formation Control for Networked Mobile Robots	170
	6.3.1 Multi-agent Systems and the Consensus Problem	170
	6.3.2 Formation Control	172
	6.3.3 Model of Non-holonomic Mobile Robots	173
	6.3.4 Time-Schedule Control	176
	6.3.5 Robot Wireless Communication Protocols	177
	6.4 MaSS: Multi-agent Systems Simulator	178
	6.4.1 Existing Tools	179
	6.4.2 Description of the GUI	180
	6.4.3 Modeling a Multi-agent System in Ejs	182
	6.4.4 Using MaSS	187
	6.5 Application Example to a Real Testbed	190
	6.5.1 Experimental Framework	191
	6.5.2 Experimental Results	192
	6.6 Conclusions	198
	References	198
	7 Conclusions and Future Work	200
	7.1 Conclusions	200
	7.2 Future Work	201
	References	202
	8 Proofs	203
	8.1 Proof of Theorem2.22.2	203
	8.2 Proof of Theorem2.32.3	204
	8.3 Proof of Theorem4.24.2	204
	8.4 Derivation of (4.45)	206
	8.5 Proof of Theorem4.34.3	207
	8.6 Proof of Proposition5.25.2	209
	8.7 Proof of Theorem5.35.3	210
	8.8 Proof of Theorem5.45.4	211
	8.9 Proof of Theorem5.55.5	212
	8.10 Proof of Theorem5.65.6	213
	Appendix A Prototypes Models	214
	Appendix B Software	219