Optimal Model-Based Control with Limited Communication

Abstract Design of optimal controllers for uncertain linear systems subject to communication constraints is investigated in this paper. By following the Model-Based Event-Triggered (MB-ET) control framework we are able to design optimal control laws using the nominal models that are robust to model uncertainties and limited communication. For finite horizon optimal control problems we also provide sub-optimal schedulers that estimate the best time instants to send feedback measurements. The nominal optimal controller and sub-optimal scheduler aim at optimizing the performance of the system that considers the control effort as well as the cost of communication both in the presence of model uncertainties.

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