Design, analysis and validation of an observer-based delay compensation structure for a Network Control System

A pressing issue of Network Control Systems is the time-varying delay which alters the system´s performance. The current study designs and analysis a control structure based on a communication disturbance observer for delay compensation for second order linear processes. The proposed networked control system is tested through simulations and experiments, using a new network model recently proposed by the authors, for a scenario involving random delay variation and packets loss during network transmissions.