Event-based control and scheduling codesign subject to input and state constraints

This paper addresses control and scheduling codesign problem for multiple control loops sharing a common communication and computation medium, known also as networked embedded control system (NECS) in literature. Besides the limited communication medium, physical limitations on control inputs and/or states are considered as well. To avoid unnecessary use of the limited communication medium, each control loop is equipped with a model-based event generator requesting a network access only if a necessity exists and thus minimizing the traffic load on the network. The NECS with uncertain but interval-bounded time-varying communication and computation delays is modeled as a discrete-time switched polytopic system. Based on the resulting model and the proposed model-based event generators, the codesign problem is then introduced and formulated as an LMI optimization problem which can be solved completely offline. The effectiveness of the codesign strategy is evaluated for networked control of an active suspension system. Noteworthy, the proposed strategy is generally applicable to discrete-time switched polytopic systems.