Co-design of Discrete Linear Quadratic Regulator and Resource Scheduling for Priority-Driven Networked Control Systems

In this paper, the problem how to distribute network bandwidth over a set of real-time control loops in order to optimize the total control performance in networked control systems is studied. The problem mentioned above can be divided into two sub-problems: how the control performance depends on the quality of service (QoS) of network such as sampling period, network induced delay and pocket dropout, and how a resource allocation strategy can be designed to optimize the overall control performance. Linear quadratic cost functions are used as control performance indicators. The continuous-time quadratic performance cost indicator is discretized which takes the network QoS into account. To guarantee the network QoS demands, a co-design method of control and bandwidth scheduling is proposed to guarantee both networked control performance and network QoS. Finally, a series of experiments based on True time is present, and the results show that the scheme is effective and necessary.