Title: LQG control over lossy TCP-like networks with probabilistic packet acknowledgements

Authors: Emanuele Garone, Bruno Sinopoli, Alessandro Casavola

Addresses: Dipartimento di Elettronica, Informatica e Sistemistica, Universita degli Studi della Calabria, Via Pietro Bucci, Cubo 42-c, Rende (CS), 87036, Italy. ' Department of Electrical and Computer Engineering, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA 15213, USA. ' Dipartimento di Elettronica, Informatica e Sistemistica, Universita degli Studi della Calabria, Via Pietro Bucci, Cubo 42-c, Rende (CS), 87036, Italy

Abstract: This paper focuses on control applications over lossy data networks. Sensor data is transmitted to an estimation-control unit over a network, and control commands are issued to subsystems over the same network. Sensor, control and acknowledgement packets may be randomly lost according to a Bernoulli process. In this context, the discrete-time Linear Quadratic Gaussian (LQG) optimal control problem is considered. We can show how the partial loss of acknowledgements makes the optimal control law a nonlinear function of the information set. For the special case of complete state observation we can compute the optimal controller and show that the stability range increases monotonically with the arrival rate of the acknowledgement packets.

Keywords: networked control; optimal control; LQG; linear quadratic Gaussian; probabilistic packet acknowledgements; lossy TCP; lossy data networks; transmission control protocol.

DOI: 10.1504/IJSCC.2010.031158

International Journal of Systems, Control and Communications, 2010 Vol.2 No.1/2/3, pp.55 - 81

Published online: 23 Jan 2010 *

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