Design of H∞ controller for networked predictive control system with prediction error observer

This paper proposes prediction error observer (PEOB) in the design of networked predictive control systems (NPCSs) with network delays and model errors, which proposes stability criteria for closed-loop NPCSs. In the NPCSs, a prediction error occurs due to model errors. Based on a-priori predictions, the PEOB compensates for the prediction error when the controller predicts the current and future states. The proposed method improves the performance of the conventional NPC associated with network delays and model errors. Experimental results illustrate the effectiveness of the proposed control strategies.