Mitigating Communication Delays in Remotely Connected Hardware-in-the-Loop Experiments

James Cale, Emiliano Dall-Anese, Peter Young, Gerald Duggan, Poorva Bedge, Daniel Zimmerle, Leah Holton, Brian Johnson

Research output: Contribution to journalArticlepeer-review

15 Scopus Citations


This paper introduces a potential approach for mitigating the effects of communication delays between multiple, closed-loop hardware-in-the-loop experiments which are virtually connected, yet physically separated. The method consists of an analytical method for the compensation of communication delays, along with the supporting computational and communication infrastructure. The control design leverages tools for the design of observers for the compensation of measurement errors in systems with time-varying delays. The proposed methodology is validated through computer simulation and hardware experimentation connecting hardware-in-the-loop experiments conducted between laboratories separated by a distance of over 100 km.
Original languageAmerican English
Pages (from-to)9739-9748
Number of pages10
JournalIEEE Transactions on Industrial Electronics
Issue number12
StatePublished - 2018

NREL Publication Number

  • NREL/JA-5D00-65835


  • communication latency
  • delay compensation
  • drift observability
  • hardware-in-the-loop


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