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This paper addresses the output tracking control problem for networked systems with plant-model mismatch, where two-channel random network delays are considered. According to the different ways of obtaining future control commands, two networked predictive control (NPC) methods are designed. One is the NPC method using one-way time delays, called ONPC, and the other is the NPC method using round-trip time delays, called RNPC. Furthermore, they are compared in terms of the way of compensation for two-channel delays, prediction process, and communication load, respectively. Then, the closed-loop stability conditions of the RNPC system and the ONPC system for the plant-model mismatch and match cases are derived, and their output tracking performance is also theoretically analysed. Finally, the results of the theoretical analysis are verified through numerical simulation that illustrates the effectiveness of the proposed two NPC methods as well as their separate advantages.

Two networked predictive control methods for output tracking of networked systems with plant-model mismatch