A novel approach is proposed for a networked control system with random delays containing a nonlinear process based on a Hammerstein model. The method uses a time delay two step generalized predictive control (TDTSGPC), which consists of two parts, one is to deal with the input nonlinearity of the Hammerstein model and the other is to compensate the network induced delays in the networked control system. Theoretical results using the Popov theorem are presented for the closed-loop stability of the system in the case of a constant delay. Simulation examples illustrating the validity of the approach are presented
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