Networked predictive control based on the round-trip delay

Network predictive control is effectively in dealing with time-delay, data dropouts, packets disorders of Network Control System. This paper studies the stochastic stability of a affine nonlinear system within random time delay. The system controller is consist of a control prediction generator (CPG) at the controller side and a network delay compensator (NDC) at the plant side. Different from the previous literatures that model the random delay of the feedback channel and the forward channel as Markov chain respectively, the model in this paper is based on the round-trip delay, which making the predictive control process more concise but without losing generality. Then, this paper gives the necessary and sufficient conditions for stochastic stability of the closed-loop system. Finally, a numerical example is given to demonstrate the effectiveness of the proposed method.