The Design of PI with Delayed-Time Integral Mode Controller for Wireless Networked Control System

The problem of delay time and data packet loss in a wireless network control system causes a negative effect on the controller's performance in reference tracking of the process variable. Therefore, this research presents the design of PI with a delayed-time integral mode controller for the wireless networked control system which adds a term of delay time to an integral control in the forward path to compensate the unnecessary integration of the controller, while supporting the control system to track the reference values continuously and efficiently. The performance tests are implemented in the first order plus dead time process, a vertical take-off landing (VTOL), which are controlled using IEEE 802.15.4 (Zigbee) wireless networks, and MATLAB, TrueTime 2.0 simulator by comparing the control system response with Predictive Proportional Integral (P-PI) and Smith Predictor controls. The results showed that with the disturbance conditions and packet loss at 60% the proposed technique, PI with delayed-time integral mode overcome the performance of other methods at a percentage overshoot of 2.3% and the integral absolute error (IAE) 0.8964 degrees.