A delay compensation approach based on internal model control for two-input two-output networked control systems

The stability of two-input two-output networked control systems (TITO-NCS) is influenced by network-induced delays. In this paper, a delay compensation approach based on internal model control is proposed to improve the stability of the TITO-NCS. First, considering the interaction coupling between the channels, we decouple the system. After that, by constructing the model of plant matrix, a delay compensation structure is developed in terms of internal model control schedule. On the basis of the obtained stability condition, an internal model controller can be designed. The proposed method compensates the delays in an on-line real-time dynamical way, thus improving the stability of the system. The results of simulation examples are given to demonstrate the feasibility and effectiveness of the proposed method.