Min-max RHC of nonlinear NCSs with delays and packet dropouts

In this chapter, we investigate a class of constrained nonlinear networked control systems (NCSs) subject to external disturbances, input and state constraints, and network-induced constraints. From a practical perspective, the network-induced constraints considered include the time delays and packet dropouts on both the sensor-to-controller (S-C) channel and the controller-to-actuator (C-A) channel simultaneously. The min-max RHC method is proposed to design the control packets by incorporating the external disturbances into the optimization problem. Moreover, the input-to-state practical stability (ISpS) of the resulting nonlinear NCS is established by constructing a novel Lyapunov function.