Networked nonlinear model predictive control of the ball and beam system

Aiming at ball and beam system-a typical nonlinear control plant, establish its affine nonlinear model, based on the nonlinear model predictive control method, some amelioration is made, combined with the networked predictive control scheme, a networked nonlinear model predictive control method is introduced, which can compensate the network induced time delay and the packet loss, and used in the implementation of the networked control of the ball and beam system. The performance is proved by the simulation results, that the system can be stable when the random networked induced time delay with an upper bound is larger than one sample period. The simulation carried out in real network illustrates the availability of the method.