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Journal of Control Science and Engineering
Volume 2013 (2013), Article ID 383415, 9 pages
Review Article

Modeling of Random Delays in Networked Control Systems

1College of Electrical Engineering, Anhui Polytechnic University, Wuhu 241000, China
2School of Automation, Southeast University, Nanjing 210096, China

Received 2 April 2013; Accepted 8 July 2013

Academic Editor: Mohamed Zribi

Copyright © 2013 Yuan Ge et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


In networked control systems (NCSs), the presence of communication networks in control loops causes many imperfections such as random delays, packet losses, multipacket transmission, and packet disordering. In fact, random delays are usually the most important problems and challenges in NCSs because, to some extent, other problems are often caused by random delays. In order to compensate for random delays which may lead to performance degradation and instability of NCSs, it is necessary to establish the mathematical model of random delays before compensation. In this paper, four major delay models are surveyed including constant delay model, mutually independent stochastic delay model, Markov chain model, and hidden Markov model. In each delay model, some promising compensation methods of delays are also addressed.