GPC-based remote control for hydraulic position control systems in a networked environment

This paper is concerned with the design of the remote hydraulic position control system (HPCS) using the modified generalized predictive control (M-GPC) method. Both sensor-to-controller (S-C) and controller-to-actuator (C-A) network-induced delays are modeled as Markov chains. The M-GPC uses the available output and previously predicted control information at the controller node to compute the future control sequences. Different from the conventional generalized predictive control (GPC) in which only the first element in control sequences is used, the M-GPC employs the whole control sequences to compensate for the network-induced delays in both S-C and C-A links. The closed-loop system is further formulated as a special jump linear system. The sufficient and necessary conditions for the stochastic stability are derived. The experimental tests for an HPCS are given to verify the effectiveness of the proposed method.