Optimal Control over Multiple Input Lossy Channels

The performance of control systems with input packet losses on the controller to plant communication channel is analysed. The main contribution of this work is a proof that linear optimal control systems operating with UDP-like communication protocols have a larger quadratic cost than the same systems operating with TCP-like protocols. The proof is derived for the general case of multidimensional and independent actuation communication channels. In doing so, our results extend previous work to systems with multiple distributed actuators. The difference in cost between two communication protocols is analysed, enabling the maximal difference between the two protocols to be quantified. Numerical examples are presented to highlight the difference in costs induced by the choice of communication protocol.
Comment: To be submitted