Integrating control design and sensor/actuator selection

This paper presents a system level optimal design solution by integrating the feedback control design and sensor/actuator selection. Instead of designing the feedback control law with predefined sensors and actuators, we determine the precision of sensor/actuator and the control law simultaneously such that the total sensor/actuator cost is minimized while the specified control performance is satisfied. Using covariance upper bounded output feedback control, this paper shows that the full order output feedback control design problem remains convex after freeing the selection of sensor/actuator precisions. All the design constraints - output performance, input effort and sensor/actuator cost, are converted to LMIs. Hence a global solution is achieved