A Robust Model Predictive Control Method for Networked Control Systems
Abstract
Robustly compensating network constraints such as delays and packet dropouts in networked control systems is crucial for remotely controlling dynamical systems. This work proposes a novel prediction consistent method to cope with delays and packet losses as encountered in UDP-type communication systems. The augmented control system preserves all properties of the original model predictive control method under the network constraints. Furthermore, we propose to use linear tube MPC with the novel method and show that the system converges robustly to the origin under mild conditions. We illustrate this with simulation examples of a cart pole and a continuous stirred tank reactor.
Cite
@article{arxiv.2512.11481,
title = {A Robust Model Predictive Control Method for Networked Control Systems},
author = {Severin Beger and Sandra Hirche},
journal= {arXiv preprint arXiv:2512.11481},
year = {2025}
}
Comments
Accepted for publication in the Proceedings of the 63rd IEEE Conference on Decision and Control