Development of RMPC Algorithm for Compensation of Uncertain Time-Delay and Disturbance in NCS

In this paper, a synthesis method based on robust model predictive control is developed for compensation of uncertain time-delays in networked control systems with bounded disturbance. The proposed method uses linear matrix inequalities and uncertainty polytope to model uncertain time-delays and system disturbances. The continuous system with time-delay is discretized using uncertainty polytope. Then, the discretized model together with model disturbance is compensated. Uncertain parameters and additive disturbances are included in the controller design explicitly and robust stability is guaranteed in this method. The proposed method is applied on a level process. It is simulated by applying conventional RMPC as well. The simulation results show the effectiveness of the proposed method compared with conventional algorithm of the RMPC method.