Control systems technology has significantly been influenced by wireless sensors and actuators, such that wireless condition monitoring and control have been  important research topics in control theory. Network capacity, topology  management, security, radio channel variations, packet drop, quantization error, time delay, model uncertainty and non-linearity are of challenging issues in the design and development of networked monitoring and control systems.

By using H-infinity theory and asymptotic mean-square stability criterion, we designed over-network observer-based state estimation and fault diagnosis systems, which are robust to packet drop, quantization error, and model non-linearity. We developed a Matlab-based hardware-in-the-loop test-bed, by using the IEEE 802.15.4 wireless sensors, for the performance evaluation of the proposed techniques under realistic radio channel conditions. 

The following videos demonstrate the results. There are two videos for each experiment, one recording the signals and one recording the sensor movement. Both videos should be played synchronously.