Output tracking of networked control systemswith delay compensations

This paper investigates networked output tracking control problem by considering the delay compensations in both the feedback and forward channels in networked control systems (NCSs). At the controller side, the delayed output measurements are treated as a special output disturbance, and the feedback channel delay is compensated with the aid of the disturbance estimate generated by an extended functional observer. For the delay in the forward channel, the buffer and packet-based delay compensation approaches are presented, respectively. Then, the stability analysis is performed of the networked closed-loop systems. Finally, the simulation results demonstrate the effectiveness of the proposed method.