Scheme of telecontrol compensator without time synchronization and prediction of network time delay

Network time delay and its uncertainty property can affect the stability of Internet based telecontrol system. The prediction of network time delay is put into dynamic compensator, and network time delay can be compensated in the real-time, so system is stable. However, prediction error affects control performance. A compensator is presented, in which network time delay existed. Problems of prediction of network time delay on-line and time synchronization between local computer and remote computer are avoided. The scheme has practical value.