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Compensating network delays and information loss by predictive control methods

In this paper, the problem of overcoming network nondeterminism by means of predictive approaches for nonlinear continuous time systems is addressed. The idea is to use a model of the plant at the controller side to compensate delays and information loss. An event-based predictive control algorithm able to guarantee closed loop nominal stability is presented. Asynchronous controllers can be used to minimize the exchanged traffic as well as to reduce energy consumption by transmitting measurement/control information only when necessary. Finally, a possible alternative to clock synchronization is introduced such that the method can be easily extended to fast dynamical systems. Simulation results on a continuous stirred tank reactor and an inverted pendulum on a cart are presented.