Incremental Networked Predictive Control Based on Linear Input–Output Model
In this chapter, based on the incremental form of an input–output difference equation model, an incremental networked predictive control method is proposed for networked linear systems with random network-induced delays, packet disorders, and packet dropouts in the feedback and forward channels. In ideal situations, the resulting closed-loop networked system can achieve the same output tracking performance as that of the corresponding local control system. Even if there exists a mismatch between the controlled plant and its model, the closed-loop networked system can achieve a zero steady-state output tracking error for a step reference input as long as the closed-loop stability is guaranteed. Numerical simulations and practical experiments are carried out to demonstrate the effectiveness of the proposed method.