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An optimal control law for networked control systems with a discrete-time linear time-invariant plant and networks between sensors and controller as well as between controller and actuators is proposed. The networks are characterized by random delays and dropouts of transmitted data packets. The optimal control law is linear in an extended state vector; the gains can be calculated offline in advance.

Optimal Finite-Horizon Control for Networked Control Systems in the Presence of Random Delays and Packet Losses