Tuning of control systems over CSMA networks

In this paper, control systems over soft real-time carrier sensing multiple access networks are considered. A precise modeling of the system is presented, and the effects of using the communication network are probabilistically characterized. The results can be used to study several control performance issues in the stochastic setting. In this paper, the expected value of a quadratic cost function is calculated, and the result is used for optimal controller tuning and performance analysis through an example. Index Terms--Carrier sensing multiple access (CSMA) protocol, communication constraints, networked control systems (NCSs), quadratic cost function.