Modified internal model control for WiNCS with unstable time delay plants

For inevitable network delay in the wireless networked control systems, some researches have been done about wireless networked control systems based on internal model control. But internal model control only can apply to stable plants. A modified internal model control strategy is proposed. It adds a stabilizer in the plant to adjust the unstable plant, and then follow the generalized stable plant to design the internal model controller. The simulation results show the modified internal model control method is effective in the use of unstable time delay plants, ensured the stability of the unstable system. Especially, the output has good dynamic performance and strong robustness when the model is mismatched.