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We consider state-feedback predictor-based control of networked controlsystems with large time-varying communication delays. We show that even a smallcontroller-to-actuators delay uncertainty may lead to a non-small residualerror in a networked control system and reveal how to analyze such systems.Then we design an event-triggered predictor-based controller with sampledmeasurements and demonstrate that, depending on the delay uncertainty, oneshould choose various predictor models to reduce the error due to triggering.For the systems with a network only from a controller to actuators, we takeadvantage of the continuously available measurements by using a continuous-timepredictor and employing a recently proposed switching approach toevent-triggered control. By an example of an inverted pendulum on a cart wedemonstrate that the proposed approach is extremely efficient when theuncertain time-varying network-induced delays are too large for the system tobe stabilizable without a predictor.

Predictor-based networked control under uncertain transmission delays