Networked Predictive Control of Uncertain Systems With Multiple Feedback Channels

This paper studies the design and stability analysis of uncertain networked control systems with multiple feedback channels. An observer-based networked predictive control (NPC) method is proposed to compensate for the distributed delays and packet dropouts in the feedback channels. Sufficient conditions are presented for the closed-loop NPC system with distributed delays and packet dropouts to be stable, both in constant and random cases. A ball-and-beam system is employed to test the proposed method. Both the simulation and experiment results demonstrate the effectiveness of the method.