Comparison of packet loss compensation in nonlinear Networked Control Systems using the methods Extended Kalman Filter and Unscented Kalman Filter

In this paper, the performance of two nonlinear estimators is compared to deal with packet loss in Networked Control Systems (NCS). The evaluated nonlinear estimation methods are: Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF). In this article, it is shown that modifications are required in order to keep the convergence of the estimators when there is packet loss in NCS. In particular it is shown that, for this kind of applications, the UKF can perform as well as EKF.