On optimal control over networks with lossy links

The topic of this diploma thesis is optimal control of linear, discretetime, time invariant systems over communication networks. It is assumed that the plant and controller are connected with a lossy network. So, there is no reliable, deterministic communication possible and the seperation principle does not hold. However, under certain conditions the controller minimizing the quadratic cost criterion can be obtained. It is shown that this controller is linear and uses the optimal estimates of the Kalman filter. In addition, for the general case a linear, suboptimal controller is derived. Furthermore, stability criterions, robustness issues and packet retransmission are analyzed. Some examples are used to illustrate the results. Das Thema dieser Diplomarbeit ist optimale Regelung von linearen, zeitdiskreten, zeitinvarianten Systemen uber Kommunikationsnetze. Es wird angenommen, dass der Regler und die Regelstrecke mit einem verlustbehafteten Netzwerk verbunden sind. Somit existiert keine zuverlassige, deterministische Kommunikationsmoglichkeit und das Seperationsprinzip gilt nich. Dennoch kann der Regler, welcher das Quadratische Gutekriterium minimiert, unter bestimmten Bedingungen ermittelt werden. Es wird gezeigt, dass der Regler linear ist und die optimale Schatzungen des Kalmanfilter verwendet wird. Zusatzlich wird fur den allgemeinen Fall ein linearer, suboptimaler Regler hergeleitet. Ferner werden Stabilitatskriterien, Robustheitsfragen und erneutes Ubertragen von Packeten untersucht. Zur Veranschaulichung der Ergebnisse werden Beispiele verwendet.

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