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Online delay compensation approach for networked control systems

A method is proposed to compensate the effects made by delays both from sensor to controller and from controller to actuator within a control loop in a networked control system. The compensation method is designed based on online delay between controller and actuator in an integrated manner of control and communication technology. The basic idea of the method is the reduction of waiting time of data tasks transmitted in the network, and realisation of accuracy control based on online predicted delays. Experimental results show that the method meets the needs of static performance, and at the same time, well guarantees the stability of the system.