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In this paper, we consider a nonlinear networked control system (NCS) inwhich controllers, sensors and actuators are connected via severalcommunication links. In each link, networking effects such as the transmissiondelay, packet loss, sampling jitter and data packet miss-ordering are capturedby time-varying delays. Stability analysis is carried out based on the LyapunovKrasovskii method to obtain a condition for stability of the nonlinear NCS inthe form of linear matrix inequality (LMI). The results are applied to a twodegrees of freedom robot arm NCS which shows a considerable improvement withrespect to the previous works.

Improved Stability Analysis of Nonlinear Networked Control Systems over Multiple Communication Links