Using wireless networks instead of point to point wiring has attracted attention in recent years. Wireless networks application has been extended for Data Aggregation and process monitoring in many researches and industrial applications and is known as Wireless Sensor Network (WSN). Nowadays, “Wireless Sensor-Actuator Network (WSAN)” has been presented to extend WSN to control applications with Real-Time loop. WSAN provides a structure for implementation of networked control system using wireless technology. Aside from the advantages such as decrease in wiring costs, facility in installing and maintenance, increase in scalability, possibility of monitoring and controlling in hazardous area, and possibility of controlling geographically distributed systems, It has some challenging area such as delays and packet loss in transferring data, packet congestion in networks, synchronization of different part of the control system, requirements of real-time controller, information security and reliability. Among these challenging problems, delay and packet loss are considered more by control researchers. In this dissertation, resolving the real-time controllers’ problems using WSAN is studied. WSANs has two main objectives: transmission of observations and sensor measurements to the controller through sensor-side network, and forwarding control commands of controller to the actuators through actuator-side network. To reach the first goal, an optimal estimator is proposed. This estimator is compatible with the constraints of sensor-side network and has the ability of real-time estimating in the presence of delays, packet loss, multi-sensor structure and out-of-order data reception. To reach the second goal, a centralized controller is designed and the control loop of WSAN is completed. All the information and observations from all the sensors, actuators and networks condition are sent to the centralized controllers and this controller calculates the control commands and sends them to the actuators via wireless network. Key Words: Networked Control System (NCS), Wireless Sensor-Actuator Network (WSAN), Networked Estimator, Networked Controller, Optimal Tracker, Compensate Delay and Packet Loss
