Design of Prediction-Based Controller for Networked Control Systems with Packet Dropouts and Time-Delay

A novel prediction-based controller design is proposed for networked control systems (NCSs) with stochastic packet dropouts and time-delay in their control channel. The sequence of packet dropouts, which are modelled as a Bernoulli process, is compensated by a zero-order holder (ZOH)-based module, whereas a state predictor is utilized for obtaining the predicted states at the time delayed. In view of dropout compensator and state predictor, a novel modified model predictive controller (MPC) is designed and proposed in the following procedures. Compared to cost function of a general model predictive controller, variables of states are substituted by the predicted ones as obtained from state predictor preliminarily. Then, a logical programming approach is applied to include all the possible circumstances in the prediction horizon. Consequently, the cost function is reformed as simultaneous minimax linear matrix inequalities (LMI) with constraints. As a result, toolbox YALMIP is employed in order to solve such minimax programming problem eventually. Simulation results are presented to show the feasibility and performance of proposed method.