时延网络控制系统的补偿算法和最优控制律设计

对具有随机时延和系统噪声的一类网络控制系统进行了研究和分析。针对系统存在的随机时延，分别设计出在全状态反馈方式和输出反馈方式下的状态观测器，通过状态观测器的算法补偿来实现对时延的补偿，从而获得更准确的预测估计。与此同时，基于LQG性能指标，给出了随机时延系统的最优控制律，减弱了网络时延和系统噪声对控制系统稳定性的影响，从而保证了系统的稳定性。最后，通过了实例仿真，证实了提出状态观测器进行时延补偿算法和最优控制律设计的有效性。

Design of compensation algorithm and optimal control law of networked control system with time delay

This paper investigates modeling and analysis of networked control systems subject to random time delays and system noise.In view of the system existence random time delays,we design state observers separately under the full condition feedback system and the output feedback system to realize the time delays compensation,thus we can obtain the more accurate forecast estimate.Meanwhile,we present the optimal control law of the networked control system based on LQG performance,to weaken the influence of time delays and system noise on system stability,so we can ensure the stability of the system.Finally,by the example simulation,we confirm the validity of the time delay compensation strategy and the optimum control design.