Development of RMPC Algorithm for Compensation of Uncertain Time-Delay and Disturbance in NCS

In this paper‎, ‎a synthesis method based on robust model predictive control is developed for compensation of uncertain time-delays in networked control systems with bounded disturbance‎. ‎The proposed method uses linear matrix inequalities and uncertainty polytope to model uncertain time-delays and system disturbances‎. ‎The continuous system with time-delay is discretized using uncertainty polytope‎. ‎Then‎, ‎the discretized model together with model disturbance is compensated‎. ‎Uncertain parameters and additive disturbances are included in the controller design explicitly and robust stability is guaranteed in this method‎. ‎The proposed method is applied to a level process‎. ‎It is simulated by applying conventional RMPC as well‎. ‎The simulation results show the effectiveness of the proposed method compared with the conventional algorithm of the RMPC\footnote{Robust Model Predictive Control} method.