Output feedback model predictive control for networked control systems with time-delay

An off-line output feedback model predictive control scheme for a class of networked control systems (NCS) with input constraints and uncertain time-delay was studied. Considering time-driven sensors, event-driven actuators and the controller, and the uncertain time-delay no more than one sampling period, an augmented mathematic model for the NCS based on state observer was developed. According to robust model predictive control theory, matrix inequalities method was used to derive the sufficient condition of asymptotic stability of closed loop system for NCS and at the same time satisfy the input constraints. Based on this idea, the off-line output feedback model predictive control law was synthesized. The simulation example shows the effectiveness of the proposed technique.