Constrained model predictive control of networked systems with time-invarying input delay

The problem of constrained infinite-horizon model predictive control for NCSs is studied in this paper. By using linear matrix inequality (LMI) approach, the non-PDC control law is designed for nonlinear system which is represented by Takagi-Sugeno (T-S) fuzzy model under consideration of effect of network-induced constant delay between controller and actuator. Based on parameter-dependent Lyapunov function, a new sufficient condition is derived for the existence of non-PDC fuzzy controller which can guarantee that the resulting closed-loop fuzzy system is asymptotically stable. In addition, input and output constraints of the fuzzy system are satisfied with the feedback controller. The numerical example is given to illustrate the efficiency of the theoretic results.