Networked Predictive Control Based on Linear Input-Output Model
In this chapter, in order to compensate for random network-induced delays, packet disorders, and packet dropouts in the feedback and forward channels, a networked predictive control method is presented for networked linear systems based on an input-output difference equation model. In ideal situations, the resulting closed-loop networked system can achieve the same output tracking performance as that of the corresponding local control system where there exist no networks in the control loop. A stability condition is given for the closed-loop networked system with disturbances and modelling errors. Simulation and experimental results are given to illustrate the effectiveness of the proposed method.