Amirkabir University of Technology AUT Journal of Modeling and Simulation 2588-2953 58 2 2026 10 01 Packet-Based Predictive Control Framework for Rotary inverted pendulum benchmark with Round-Trip Time-Delay compensation 6110 10.22060/miscj.2026.23654.5392 EN Mostafa Nasiri Isfahan University of Technology Ehsan Zeinali Isfahan University of Technology, Isfahan, Iran Journal Article 2024 11 05 Time delays in data transmission are a critical factor that significantly influence the stability and performance of pocket-based control systems, especially under realistic network conditions where delays are unpredictable and variable. These delays, stemming from communication constraints, often include challenges such as packet disorder and loss, which can compromise control accuracy and system robustness. To address this issue, this paper introduces a novel round-trip delay compensation strategy that explicitly considers both feedback and feedforward delays. These delays are modeled as stochastic but constrained entities, accurately capturing the uncertainties present in real-world network environments. The impact of these delays on system stability is rigorously analyzed using spectral radius methods, providing a quantitative assessment of stability margins and robustness. Additionally, the effects of key parameters such as sampling time and the design of controllers based on linear quadratic regulation are investigated through comprehensive simulations, highlighting their influence on system stability and performance. Practical validation is performed on a pocket-based inverted pendulum system, demonstrating that the proposed approach reduces overshoot by approximately 20%, shortens the settling time by about 25%, and decreases peak motor torque by 23%. These results underscore the enhanced robustness and reliability achieved through the proposed delay compensation, making it a practical and effective solution for networked control systems operating under variable communication delays and packet irregularities.