Switching data-processing methods for feedback control: Breaking the speed versus accuracy trade-off

In many digitally controlled applications, such as vision-based and data-intensive control, the choice of the data-processing method for distilling (control-relevant) state information is non-trivial and important. While accurate processing methods require significant processing time, limiting the closed-loop control rate, faster methods introduce larger inaccuracies in the distilled state information. This leads to a trade-off between speed and accuracy, which can be considered off-line or on-line. In this paper, we propose an on-line strategy to switch between different data-processing methods in real-time in order to improve closed-loop performance for linear systems.