Networked Predictive Control of Systems With Random Network Delays in Both Forward and Feedback Channels

The design problem of networked control systems (NCS) with constant and random network delay in the forward and feedback channels, respectively, is considered in this paper. A novel networked predictive control (NPC) scheme is proposed to overcome the effects of network delay and data dropout. Stability criteria of closed-loop NPC systems are presented. The necessary and sufficient conditions for the stability of closed-loop NCS with constant time delay are given. Furthermore, it is shown that a closed-loop NPC system with bounded random network delay is stable if its corresponding switched system is stable. Both simulation study and practical experiments show the effectiveness of the control scheme