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Iterative Encoder-Controller Design for Feedback Control Over Noisy Channels
KTH, School of Electrical Engineering (EES), Communication Theory. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Communication Theory. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0002-7926-5081
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
2011 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 56, no 2, 265-278 p.Article in journal (Refereed) Published
Abstract [en]

We study a closed-loop control system with state feedback transmitted over a noisy discrete memoryless channel. With the objective to minimize the expected linear quadratic cost over a finite horizon, we propose a joint design of the sensor measurement quantization, channel error protection, and controller actuation. It is argued that despite that this encoder-controller optimization problem is known to be hard in general, an iterative design procedure can be derived in which the controller is optimized for a fixed encoder, then the encoder is optimized for a fixed controller, etc. Several properties of such a scheme are discussed. For a fixed encoder, we study how to optimize the controller given that full or partial side-information is available at the encoder about the symbols received at the controller. It is shown that the certainty equivalence controller is optimal when the encoder is optimal and has full side-information. For a fixed controller, expressions for the optimal encoder are given and implications are discussed for the special cases when process, sensor, or channel noise is not present. Numerical experiments are carried out to demonstrate the performance obtained by employing the proposed iterative design procedure and to compare it with other relevant schemes.

Place, publisher, year, edition, pages
IEEE , 2011. Vol. 56, no 2, 265-278 p.
Keyword [en]
Discrete memoryless channel, joint encoder-controller design, joint source-channel coding, limited information control, quantized feedback control
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-31006DOI: 10.1109/TAC.2010.2051833ISI: 000287084300003ScopusID: 2-s2.0-79951679496OAI: oai:DiVA.org:kth-31006DiVA: diva2:402227
Funder
Swedish Research CouncilICT - The Next Generation
Note
QC 20110307Available from: 2011-03-07 Created: 2011-03-07 Last updated: 2012-01-13Bibliographically approved

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Bao, LeiSkoglund, MikaelJohansson, Karl Henrik
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Communication TheoryACCESS Linnaeus CentreAutomatic Control
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