Network Control System Based On Predictive Control Delay Compensation Method

Nowadays, networked control systems (NCS) has motivated considerable interest in control community. Since networked induced delay is one of the important problems of NCS, analysis, modeling and controller design for time delay in NCS are studied in this thesis.Firstly, analysis and modeling for the NCS with networked, induced delay are investigated. Under the consideration of the networked induced delay, we formulate the mathematic models of NCS with open-loop and closed-loop control configuration and design open- and closed-loop controllers for discrete system. Furthermore, we also give the mathematical model of NCS by using the hybrid theory.Secondly, controller design of NCS for delay compensation is studied when the controller is clock-driven. As long as the sampling period of NCS is fixed, we can get the upper bound of the networked induced delay to guarantee the stability. Under the assumption that time delays are constant, we can compensate them through Smith predictive controller and optimal control for the different actuator driven mechanism. We can also apply the d-step ahead predictive control to. compensation of the stochastic varying time delay of NCS. Numerical simulation demonstrate the effectiveness of the above methods.Finally, the time delay compensation controller is designed for NCS when the controller is event-driven. Through the optimal control and generalized predictive control, the output delay and the control delay of NCS are compensated. Simulation results show the controller design is effective.