SEPARATED DESIGN OF ENCODER AND CONTROLLER FOR NETWORKED LINEAR QUADRATIC OPTIMAL CONTROL
2016 (English)In: SIAM Journal of Control and Optimization, ISSN 0363-0129, E-ISSN 1095-7138, Vol. 54, no 2, 662-689 p.Article in journal (Refereed) PublishedText
For a networked control system, we consider the problem of encoder and controller design. We study a discrete-time linear plant with a finite horizon performance cost, comprising a quadratic function of the states and controls, and an additive communication cost. We study separation in design of the encoder and controller, along with related closed-loop properties such as the dual effect and certainty equivalence. The encoder outputs are quantized samples, but our results also apply to two other formats for encoder outputs: real-valued samples at event-triggered times, and real-valued samples over additive noise channels. If the controller and encoder are dynamic, then we show that the performance cost is minimized by a separated design: the controls are updated at each time instant as per a certainty equivalence law, and the encoder is chosen to minimize an aggregate quadratic distortion of the estimation error. This separation is shown to hold even though a dual effect is present in the closed-loop system. We also show that this separated design need not be optimal when the controller or encoder are to be chosen from within restricted classes.
Place, publisher, year, edition, pages
Society for Industrial and Applied Mathematics Publications , 2016. Vol. 54, no 2, 662-689 p.
networked control, linear quadratic optimal control, separation, dual effect, certainty equivalence, quantized control
IdentifiersURN: urn:nbn:se:kth:diva-188122DOI: 10.1137/14M0970987ISI: 000375552500010ScopusID: 2-s2.0-84964905254OAI: oai:DiVA.org:kth-188122DiVA: diva2:935933
QC 201606132016-06-132016-06-032016-06-13Bibliographically approved