Networked control systems based on internal model control

To aim at the network delays in the networked control systems, an internal model control algorithm is proposed. This method makes that the network delays don´t need to be measured, identified or estimated on line, and the nodes don´t need the clock signal synchronization. Moreover, it adapts to the environment which has random, variant and uncertain delays, more than dozens of sampling periods, some data packets loss, the change of controlled plant in the networked control system. The results of the simulation show the validity of the control scheme, and indicate the system has better dynamic performance and robustness.