具有随机通讯延迟和噪声干扰的网络系统控制

针对网络控制系统中普遍存在的通讯延迟问题，在有动态噪声及测量噪声存在的情况下，提出一种延迟补偿器结构，实现了对随机通讯延迟的补偿和对信号的最小方差预测。分析了闭环系统的稳定性，并给出实验结果，证实了所提出理论的正确性。

Control of Network System with Random Communication Delay and Noise Disturbance

To the communication delay existing commonly in the network control system, a delay compensator under the existence of dynamic noise and measurement noise is presented. This compensator can realize the compensation to the random communication delay and the forecast of minimum variance. The stability of the closed loop is also analyzed. The experimental results show the validity of the theoretical result.