Improved predictive control approach to networked control systems based on quantization dependent Lyapunov function.

This paper considers model predictive control (MPC) for the linear discrete-time systems in the presence of packet loss, quantization and actuator saturation. Compared with the previous work ([45]), this paper presents an improved networked MPC approach for networked control systems (NCSs) by applying the quantization dependent Lyapunov function (QDLF) method which leads to less conservative results. The additional improvement is made by placing the heavier weighting on the system corresponding to the actual linear feedback law and choosing the relative weighting on the actual and auxiliary feedback laws which further improves the control performance over the existing method. It is shown that the closed-loop stability is guaranteed and a quantized state-feedback controller is derived by solving the infinite horizon optimization problem. Moreover, this method is further extended to multiple-input case. A numerical example is given to illustrate the effectiveness of the proposed approach.