  We consider state-feedback predictor-based control of networked control
systems with large time-varying communication delays. We show that even a small
controller-to-actuators delay uncertainty may lead to a non-small residual
error in a networked control system and reveal how to analyze such systems.
Then we design an event-triggered predictor-based controller with sampled
measurements and demonstrate that, depending on the delay uncertainty, one
should choose various predictor models to reduce the error due to triggering.
For the systems with a network only from a controller to actuators, we take
advantage of the continuously available measurements by using a continuous-time
predictor and employing a recently proposed switching approach to
event-triggered control. By an example of an inverted pendulum on a cart we
demonstrate that the proposed approach is extremely efficient when the
uncertain time-varying network-induced delays are too large for the system to
be stabilizable without a predictor.
