Analysis and Design of the Time-delay Compensation for Networked Control Systems with Random Communication Delay

Aiming at the compensation issues of the random communication delay in networked control systems, this paper proposes a method to design the time-delay compensation controller based on generalized predictive control. The compensation controller consists of the network predictor and the time-delay compensator, which is used to make up for the delay with different characteristics. Different from the traditional determination method, the control parameters depend on the random delay is given in this paper, which can improve the system performance. Furthermore, the stability conditions of the closed-loop control system are also constructed. Using TrueTime toolbox to simulate the real network communication, both of fixed delay and stochastic delay in networked environment are considered to analyze the compensating performance, and the corresponding effect of different control parameters. The simulated results illustrate a better performance of the varying-parameter compensation controller than the fixed one.