Quantized and networked predictive control for input-saturated systems

This paper investigates the problem of stabilizing predictive control for constrained systems with quantization and communication delays. Based on the quantization matrix, the input-saturated control systems with logarithmic quantizers are described as constrained control systems with structured norm-bounded uncertainties. A quantized and networked predictive control algorithm is presented by using a multirate delay compensation strategy. It is shown that the proposed predictive controller not only efficiently reduces the negative effects of the quantization and communication delays but also guarantees the closed-loop stability and constraints satisfaction. The simulation example shows the effectiveness of the derived method.