  In this article, we consider a nonlinear process with delayed dynamics to be
controlled over a communication network in the presence of disturbances and
study robustness of the resulting closed-loop system with respect to
network-induced phenomena such as sampled, distorted, delayed and lossy data as
well as scheduling protocols. For given plant-controller dynamics and
communication network properties (e.g., propagation delays and scheduling
protocols), we quantify the control performance level (in terms of Lp-gains) as
the transmission interval varies. Maximally Allowable Transfer Interval (MATI)
labels the greatest transmission interval for which a prescribed Lp-gain is
attained. The proposed methodology combines impulsive delayed system modeling
with Lyapunov-Razumikhin techniques to allow for MATIs that are smaller than
the communication delays. Other salient features of our methodology are the
consideration of variable delays, corrupted data and employment of model-based
estimators to prolong MATIs. The present stability results are provided for the
class of Uniformly Globally Exponentially Stable (UGES) scheduling protocols.
The well-known Round Robin (RR) and Try-Once-Discard (TOD) protocols are
examples of UGES protocols. Finally, two numerical examples are provided to
demonstrate the benefits of the proposed approach.
