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Bo Bernhardsson

Modellering och styrning av osäkra system. Programdirektör för masterprogrammet i maskininlärning, system och styrning.

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On Event-Based Sampling for LQG-Optimal Control

Författare

  • Marcus Thelander Andrén
  • Bo Bernhardsson
  • Anton Cervin
  • Kristian Soltesz

Summary, in English

We consider the problem of finding an event-based sampling scheme that optimizes the trade-off between average sampling rate and control performance in a linear-quadratic-Gaussian (LQG) control problem setting with output feedback. Our analysis is based on a recently presented sampled-data controller structure, which remains LQG-optimal for any choice of sampling scheme. We show that optimization of the sampling scheme is related to an elliptic convection–diffusion type partial differential equation over a domain with free boundary, a so called Stefan problem. A numerical method is presented to solve this problem for second order systems, and thus obtain an optimal sampling scheme. The method also directly generalizes to higher order systems, although with a higher computational cost. For the special case of multidimensional integrator systems, we present the optimal sampling scheme on closed form, and prove that it will always outperform its periodic counterpart. Tight bounds on the improvement are presented. The improved performance is also demonstrated in numerical examples, both for an integrator system and a more general case.

Avdelning/ar

  • Institutionen för reglerteknik
  • ELLIIT: the Linköping-Lund initiative on IT and mobile communication

Publiceringsår

2018-01

Språk

Engelska

Sidor

5438-5444

Publikation/Tidskrift/Serie

56th IEEE Conference on Decision and Control, CDC, 2017

Dokumenttyp

Konferensbidrag

Ämne

  • Control Engineering

Nyckelord

  • event-based sampling
  • LQG-optimal control
  • sampled-data control
  • linear reset systems

Conference name

56th IEEE Annual Conference on Decision and Control, CDC 2017

Conference date

2017-12-12 - 2017-12-15

Conference place

Melbourne, Australia

Status

Published

Projekt

  • Event-Based Estimation and Control
  • Event-Based Control of Stochastic Systems with Application to Server Systems

Forskningsgrupp

  • LCCC