Real-Time Random Delay Compensation with Digital Redesign Technique

Real-time random delay compensation with prediction-based digital redesign

“…4, both input delay and output delay exist in NCS, also known respectively as actuator delay and sensor delay [3,39]. If the delay is relatively large when compared to the dominant time constant, the achievable performance of closed-loop feedback control process can be degraded [7,10,11,13,18,19]. In some NCSs, clocks are synchronized and data transmitted can be time stamped, so that the receiver may be able to estimate the duration and then take appropriate compensation action [1].…”

“…One of such challenges is network induced delays arising from shared communication channel, which can be mostly owed to access delay due to network protocol [3,10,11]. As indicated in [12,13], the achievable performance of a closed-loop feedback control process can be significantly degraded if there is a relatively large time delay compared to the dominant time constant.…”

“…As indicated in [12,13], the achievable performance of a closed-loop feedback control process can be significantly degraded if there is a relatively large time delay compared to the dominant time constant. As such, network induced delay potentially degrade the performance or even destabilize real-time critical applications [4,10,11,[14][15][16][17][18]. Without appropriate time delay compensation, either reduce network nodes to ensure cycle time within affordable range, or preclude the time-critical equipment to be connected through networked control, all these measures restrict the further utilization of NCS [13,19].…”