Citation:
Stefano Longo, Guido Herrmann and Phil Barber. Optimization approaches for controller and schedule codesign in networked control. IFAC Proceedings Volumes, Volume 42, Issue 6, 2009, pp. 301-306
Abstract:
We consider the offline optimization of a sequence for communication scheduling in networked control systems. Given a continuous-time Linear Quadratic Regulator (LQR) problem we design a sampled-data periodic controller based on the continuous time LQR controller that takes into account the limited communication medium and inter-sampling behavior. To allow for a Riccati equation approach, singularities in the weighting matrices and time-variance are accounted for using a lifting approach. Optimal scheduling can be obtained by solving a complex combinatorial optimization problem. Two stochastic algorithms will be proposed to find a (sub)optimal sequence and the associated optimal controller which is the result of a discrete algebraic Riccati equation for the given optimal sequence.