Design of a New Model Predictive Controller for Networked Control Systems Subjected to Variable Network Time Delays

In this paper, a novel methodology is proposed to improve performance of the Networked Control System (NCS) in the face of random time-delays, using Model Predictive Controller (MPC) approach. For this purpose, a new state-feedback MPC structure is developed to cope with random network time-delays when the system is subjected to uncertainties with state and control constraints. The main idea is to reduce the disturbing effect of random network time-delays on regulatory performance of the NCS using a new robust formulation in MPC design. A terminal penalty constraint has been added to the finite horizon objective function to guarantee the stability of the system stability. Finally, applicability of the presented method is evaluated in a real pilot plant within a NCS configuration, being realized by an industrial Ethernet and Foundation Fieldbus technology. It is demonstrated that the proposed online methodology is effective to provide a better performance, having faster response, smaller overshoot and stronger robustness compared to the conventional MPC method with less aggressive control actions.

Keywords:

Network control system , Network-induced delay , Model Predictive Controller , Random time delay , کنترل پیش بین مبتنی بر مدل , سیستم های کنترل شده تحت شبکه , تاخیر زمانی شبکه , تاخیر زمانی تصادفی