Abstract
This study studies the problem of setpoint output tracking for networked control systems with network-induced delay, packet disorder and packet dropout. Based on the input-output difference equation model, a novel networked predictive control (NPC) method via static output feedback integral controller (SOFIC) is proposed to actively compensate for the round-trip time (RTT) delay resulting from the aforementioned communication constraints. It is analysed that the resulting NPC system can achieve a similar tracking performance as that of the corresponding local control system. Based on the performance analysis, a necessary and sufficient condition for the stability of the closed-loop NPC system is obtained, which is independent of the RTT delay. Both numerical simulations and practical experiments on an internet-based servo motor system illustrate the effectiveness of the proposed method.
Published Version
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