Delay-independent dual-rate PID controller for a packetbased Networked Control System

In this paper, a novel delay-independent control structure for a networked control system (NCS) is proposed, where packet-based control strategies with predictor-based and dual-rate control techniques are integrated. The control solution is able to cope with some networked communication problems such as time-varying delays, packet dropouts and packet disorder. In addition, the proposed approach enables to reduce network load, and usage of connected devices, while maintaining a satisfactory control performance. As a delayindependent control solution, no network-induced delay measurement is needed for controller implementation. In addition, the control scheme is applicable to open-loop unstable plants. Control system stability is ensured in terms of linear matrix inequalities (LMIs). Simulation results show the main benefits of the control approach, which are experimentally validated by means of a Cartesian-robot-based test-bed platform.