Controller design based on model predictive control for real-time tracking synchronization in closed-loop control via Internet

This work presents the design of a local predictive controller for remote closed-loop control over Internet with random long non-equal delays. To guarantee the real time tracking synchronization between the output of remote plant and predictive values, the controller creates a set composed of control commands considering almost all the cases about different delays and packet loss in the communication channel. Being of limited intelligence, the remote actuator nearby plant only needs to find out the right control command in the set in a simple logic, but not compute the command as a role of the controller. The true output value of the plant is sent to the local controller as the feedback information, and the future predictive values are corrected. Simulations show that the tracking of remote plant to the values in the local controller is synchronized and the performance is improved with the optimization of transmission characteristics in the Internet.