Simulation Code: Optimal Delay Compensation in Networked Control Systems

This repository contains the MATLAB/Simulink code accompanying the paper

Optimal Delay Compensation in Networked Predictive Control by S. Beger, Y. Lin, K. Stanojevic and S. Hirche.

accepted at the IFAC World Congress 2026.

Overview of the considered networked predictive control system. Delays exceeding the selected delay bound are treated as packet dropouts.

The repository reproduces:

• the analytical delay-bound optimization framework,
• the expected-error evaluation,
• and the dynamic networked predictive control simulations presented in the paper.

Quick Start

Execute the theoretical delay-bound evaluation

cd OptimalDelayboundCalculation
main

Run the dynamic simulation with NPC

cd Simulation
main

Organization

The code is organized in two main folders:

1. OptimalDelayboundCalculation: code to reproduce the theoretical findings of the paper
2. Simulation: simulation of a mass-spring-damper to verify the performance of the proposed method

Each folder includes a Readme for usage as well as the data used to produce the actual results of the paper.

OptDelComp/
├── Simulation/
│   ├── main.m
│   ├── main_MonteCarlo.m
│   ├── Baseline.m
│   ├── src/
│   ├── data/
│   └── README.md
├── OptimalDelayboundCalculation/
│   ├── main.m
│   ├── src/
│   ├── data/
│   └── README.md
├── assets/
├── README.md
└── LICENSE

Installation and Requirements

The presented code is written in Matlab, and uses Netflex. To run the code, the following software is required:

• MATLAB (tested with R2025b), including:
  • Control System Toolbox
  • Model Predictive Control Toolbox
  • Optimization Toolbox
  • Statistics and Machine Learning Toolbox
• SIMULINK (tested with R2025b)

This repository contains modified/adapted components of:

• Netflex
• TrueTime

You may need to install the TrueTime patch before being able to execute the simulation code. For instructions see the Readme in the corresponding folder.

All experiments reported in the paper were run under Windows 11 with the software versions listed above. The code is expected to work on other platforms with MATLAB support.

Reference

If you use this software in your research, please cite the following work:

@article{OptDelComp2026,
 title={Optimal Delay Compensation in Networked Predictive Control},
 author={Beger, Severin and Lin, Yihui and Stanojevic, Katarina and Hirche, Sandra},
 journal={arXiv preprint arXiv:2512.11492},
 year={2026}
}

Acknowledgment

Parts of this repository build upon the Netflex framework and the TrueTime toolbox.

License

This repository is distributed under the GNU General Public License v3.0 (GPL-3.0). See LICENSE for details.