On polytopic approximations of systems with time-varying input delays

Abstract

Networked control systems (NCS) have recently received an increasing attention from the control systems community. One of the major problems in NCS is how to model the highly nonlinear terms caused by uncertain delays such as time-varying input delays. A straightforward solution is to employ polytopic approximations. In this paper we develop a novel method for creating discrete-time models for systems with time-varying input delays based on polytopic approximations. The proposed method is compared to several other existing approaches in terms of quality, complexity and scalability. Furthermore, its suitability for model predictive control is demonstrated. © 2009 Springer Berlin Heidelberg.