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.

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