An improved internal model control algorithm for NCS with networked-delay

The insertion of the communication network in the feedback control loop makes some problems about the QoS. One important issue is the network-induced delay that occurs while exchanging data among devices connected to the shared medium. The purpose of this paper is to design an improved internal model controller to control a plant with time delays. Compared with ordinary internal model controllers, there is an additional feedback loop in the new architecture. The simulation results demonstrate that the control system has satisfied robustness performance.