Paper:

# An Event-Triggered Networked Predictive Control Method Using an Allowable Time Delay

## Zhong-Hua Pang, Zhen-Yi Liu, Zhe Dong^{†}, and Tong Mu

Key Laboratory of Fieldbus Technology and Automation of Beijing, North China University of Technology

No.5 Jinyuanzhuang Road, Shijingshan District, Beijing 100144, China

^{†}Corresponding author

An event-triggered network predictive control method, which uses allowable time delays, was developed for networked control systems with random network delays, packet disorders, and packet dropouts in the feedback and forward channels. In this method, random communication constraints are uniformly treated as a time delay at each time instant. Subsequently, based on a time-delay state feedback control law, the proposed method is used to actively compensate for the time delay that exceeds the allowable. In addition, the introduction of an event-triggered mechanism reduces communication loads and saves network resources. A necessary and sufficient stability condition for the closed-loop system is provided, which is independent of random time delays and is related to the allowable delay. Finally, the simulation results of the two systems verified the effectiveness of the proposed method.

*J. Adv. Comput. Intell. Intell. Inform.*, Vol.26 No.5, pp. 768-775, 2022.

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