Stability and optimality of constrained model predictive control with future input buffering in networked control systems

This paper focuses on the stability and optimality of a novel control strategy for Networked Control Systems (NCS). The developed control strategy hones the potential of constrained Model Predictive Control (MPC) by buffering the predicted control sequence at the actuator in anticipation of the occurrence of typical data transmission errors associated with NCS. Global closed-loop stability in the sense of Lyapunov is guaranteed by bounding the projected receding horizon costs by lower- and upper-bounding terms using a predetermined terminal cost. The developed stability theorem, although suboptimal in real-time, is a sufficient measure to estimate the worst-case transmission delay that can be handled by the developed control buffering strategy.