EECI09: Packet loss, delays and shock absorbers
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In this lecture we will consider two effects introduced by the communication channel: stochastic data erasure and random delay in data transfer. We will consider both the one-block and two-block design problems. The one-block design problem can be solved using the Markov jump linear systems introduced in the last lecture. The two-block design problem requires a new framework; however, somewhat surprisingly, the optimal design is recursive.
- Lecture slides: Summary
A good summary of the one block design problem is provided in the paper "Foundations of control and estimation over lossy networks", L. Schenato, B. Sinopoli, M. Franceschetti, K. Poolla, S. S. Sastry, Proceedings of the IEEE, 95(1), pp. 163-187, January 2007.
The two block design problem has been solved in "Distributed Estimation and Control in Networked Systems", V. Gupta, Ph.D. Dissertation, Division of Engineering and Applied Science, California Institute of Technology.
Some of the material for the case of a channel between controller and actuator is provided in "On Stability in the Presence of Analog Erasure Channels", V. Gupta and N. C. Martins, Proceedings of the IEEE Conference on Decision and Control (CDC '08), December 2008.