In literature regarding the dynamics of the CardanHooke joint, the inertial characteristics of shafts and a cross and their influence on the joint torque transmission are often ignored (see e.g. [1]). In [2], the cross inertia and its effect on shafts bearing reactions at the constant angular velocity of the input shaft was considered. On the other hand, the problem of the torque transmission at a variable angular velocity of the input shaft and in the presence of both structural and error misalignments between the shafts is considered in [3]. Moreover, the inertial characteristic of the cross is not taken into account. In [4], only the inertia of shafts was taken into account. The aim of this paper is to form a relation between the applied and resisting torques, which will be taken into account inertial characteristics of both the cross and the shafts. In general case, the variable angular velocity of the input shaft is assumed where elasticity effects and friction are ignored.

Networked Control Systems (NCSs) affected with packet dropouts and scheduling are considered. The undesirable effects of packet dropouts and scheduling, such as instability or deteriorated performance, are addressed by application of a protocol and controller co-design method. The used method exploits Model Predictive Control (MPC) framework and the flexible NCS architecture which allows for distributed computation. Uniform Global Asymptotic Stability (UGAS) is established by assuming a finite bound on the number of consecutive packet dropouts and appropriate modifications to often adopted MPC stability-related assumptions. Two approaches that demonstrate UGAS are provided. The proof of one approach consists of finding an appropriate Lyapunov candidate function, while the other uses a cascade stability idea.