Compensation for the networked control systems with the long time delays

The network-included delays are not only unknown and stochastic, but also usually more than one sampling interval, which result in disturbing the order of control signals and making the system analysis much complex. By the prediction of a new estimator and using the event-driven and time-driven actuators simultaneously, the plant gets the current control signals in every sampling interval. Thus, the long delays are compensated in time. The simulation results show the efficiency of this compensation method.