Model predictive control for networked control systems with random delay and packet disordering

The model predictive control problem is investigated in this paper for a class of networked control systems (NCS) with random delay and packet disordering. A new model is proposed to describe the packet disordering phenomenon. The random delay is modeled as a Markov chain and the closed-loop NCS is described as a Markovian jump system. Sufficient conditions for the NCS to be stochastically stable and the performance index to be upper bounded are derived by using the receding optimization principle. Furthermore, a piecewise-constant state feedback controller is obtained by using the linear matrix inequality (LMI) technique. Finally, an illustrative example is given to demonstrate the effectiveness of the proposed method.