Event-triggered anytime control with two controllers

In networked and multi-tasking environments, measurement data and processing resources may not be available at times when control calculations need to be executed. In this paper, we present an anytime algorithm which features two control policies: a coarse policy and a fine policy. The fine control policy requires more processing resources than the coarse policy. With this scheme, the network and processing resources can be used more efficiently, and performance can be improved. Specifically, for a given packet dropout rate and process availability which are independent and identically distributed (i.i.d.), the proposed two-controller scheme achieves better closed-loop performance with a lower channel utilization than alternative control formulations.