Modeling Internet Delay Dynamics Using System Identification

We propose a novel approach for modeling the end-to-end time-delay dynamics of the Internet using system identification, and apply it to control real-time telerobotic operations via Internet with specific Quality of Service (QoS) offerings. To do this, we have employed system identification techniques and the Auto-Regressive eXogeneous (ARX) model to obtain the values of relevant parameters and study their dynamics. The results show a periodic behavior of the Internet delay. Experimental measurements show the accuracy and usefulness of our theoretical derivations.