Communication rate allocation in quantized control

A linear-quadratic-Gaussian (LQG) delocalized control problem is formulated to require both specification of a control law and communication of measurements to controller and controls to plant. Efficient communication requires quantization of both measurement and control signals. The basic design problem is to allocate in an optimum fashion a fixed total communication rate to the measurement and control communication systems. A dynamic communication rate allocation algorithm is developed based on prediction error and entropy power. As intuitively expected, the rate allocation depends on both the measurement and plant noise powers, as well as the overall quadratic performance measure. Based solely on entropy power considerations, a larger rate should be allocated for communication of measurements than for communication of controls.