Research ArticleConstrained off-line synthesis approach of model predictive control for networked control systems with network-induced delays

- We establish a novel model for NCS with network-induced delays.
- We give an off-line synthesis approach of MPC for NCS with network-induced delay.
- The real-time condition on the augmented state is properly designed to guarantee the closed-loop stability.

This paper investigates the off-line synthesis approach of model predictive control (MPC) for a class of networked control systems (NCSs) with network-induced delays. A new augmented model which can be readily applied to time-varying control law, is proposed to describe the NCS where bounded deterministic network-induced delays may occur in both sensor to controller (S-A) and controller to actuator (C-A) links. Based on this augmented model, a sufficient condition of the closed-loop stability is derived by applying the Lyapunov method. The off-line synthesis approach of model predictive control is addressed using the stability results of the system, which explicitly considers the satisfaction of input and state constraints. Numerical example is given to illustrate the effectiveness of the proposed method.