Model-based networked control for nonlinear systems with transmission delays

This paper studies model-based networked state-feedback control for nonlinear systems with time-varying sampling and transmission delays. By introducing a dynamical model to the signal used in the controller, a new relationship between the measurement errors at the transmission and the corresponding arrival instants is given in the small-delay case. Furthermore, a hybrid closed-loop system model is established, including an auxiliary memory variable to characterize the delay effects. Then, based on some positive-definite functions that depend on the memory variable, sufficient conditions on the bounds of time-varying sampling intervals and transmission delays are given to ensure input-to-state stability with respect to external disturbances. Meanwhile, the construction on these positive-definite functions is provided from some standard assumptions in delay-free cases. Finally, a nonlinear example is simulated to illustrate the feasibility and efficiency of the theoretical results.