Output-based control and scheduling codesign for control systems sharing a limited resource

This paper addresses the output-based control and scheduling codesign problem for control systems sharing a limited resource, especially embedded control systems (ECSs). The joint design (codesign) of a controller and a scheduler is for the purpose of improving the resulting control performance. ECSs with a set of independent linear time-invariant plants and considerable computation time delays are modeled as discrete-time switched linear systems. Based on the resulting model, the codesign problem is introduced and decomposed into a state-based control and scheduling codesign subproblem and an observer design subproblem using the separation principle. Both subproblems are eventually formulated as LMI subproblems which can be solved efficiently. Two types of observers are introduced to cope with the lack of all states: Prediction observer and current-state observer. The effectiveness of the proposed output-based codesign method is illustrated for simultaneous stabilization of three inverted pendulums.