A Robust Model Predictive Control Method for Networked Control Systems
Open accessAbstract
Robustly compensating network constraints such as delays and packet dropouts in networked control systems is crucial for remotely controlling dynamical systems. This work proposes a novel prediction consistent method to cope with delays and packet losses as encountered in UDP-type communication systems. The augmented control system preserves all properties of the original model predictive control method under the network constraints. Furthermore, we propose to use linear tube MPC with the novel method and show that the system converges robustly to the origin under mild conditions. We illustrate this with simulation examples of a cart pole and a continuous stirred tank reactor.
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Remote optimization relies on delayed or predicted state information due to communication constraints.
“While remote optimization enables complex predictive planning, it relies on delayed or predicted state information due to communication constraints [8].”
From Where to Put Safety? Control Barrier Function Placement in Networked Control Systems (2026) · cites this paper as [8]
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Research works printed but not linked: 17
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- [8][8] P. Varutti and R. Findeisen, 'Event-based NMPC for networked control systems over UDP-like communication channels,' in American Control Conference , 2011, pp. 31663171. -
- [9][9] R. Findeisen, L. Gr¨ une, J. Pannek, and P. Varutti, 'Robustness of Prediction Based Delay Compensation for Nonlinear Systems,' IFAC Proceedings Volumes , vol. 44, no. 1, pp. 203-208, 2011. -
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- [15][15] J. B. Rawlings, D. Q. Mayne, and M. Diehl, Model predictive control: Theory, computation, and design , 2nd edition. Madison, Wisconsin: Nob Hill Publishing, 2017. -
- [16][16] F. Branz, R. Antonello, M. Pezzutto, S. Vitturi, F. Tramarin, and L. Schenato, 'Drive-by-Wi-Fi: Model-Based Control Over Wireless at 1 kHz,' IEEE Transactions on Control Systems Technology , vol. 30, no. 3, pp. 1078-1089, 2022. -
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Where to Put Safety? Control Barrier Function Placement in Networked Control Systems
Beger, S., Chen, Y., & Hirche, S. (2026) · IEEE Control Systems Letters · doi:10.1109/lcsys.2026.3710212
Self-citation
- Authors
- Beger, S., & Hirche, S.
- Affiliations
- Technical University of Munich (DE)
- Venue
- 2024 IEEE 63rd Conference on Decision and Control (CDC)
- Publisher
- IEEE
- Published
- 2024-12-16
- Pages
- 6896-6903
- ISSN
- 0191-2216 (ISSN-L)
- OpenAlex
- W4407949994
- Cited by
- 2
- References
- 0
- Citations by year
- 2026: 1 · 2025: 1
- FWCI
- 1.25
- Type
- conference paper
- Language
- en
- Open access
- green
- arxiv.org
- Locations
- IEEE Conference on Decision and Control (CDC) (publishedVersion)
- arXiv (Cornell University) (submittedVersion)
- mediaTUM – the media and publications repository of the Technical University Munich (Technical University Munich) (submittedVersion, other-oa)
- arXiv (Cornell University)
- Funders
- Ministry of Education
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Advanced Control Systems Optimization
- Physical Sciences › Engineering › Control and Systems Engineering › Stability and Control of Uncertain Systems
- Physical Sciences › Engineering › Mechanical Engineering › Teleoperation and Haptic Systems
- Keywords
- robust model predictive control, networked control systems, communication delay, packet dropping, prediction consistency, UDP communication, CartPole, continuous stirred tank reactor
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