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Jitter-Robust LQG Control and Real-Time Scheduling Co-Design

Xu, Yang LU ; Cervin, Anton LU and Årzén, Karl-Erik LU (2018) American Control Conference 2018 2018-June. p.3189-3196
Abstract
In real-time control systems, varying task response times may lead to delays and jitter in the delays in the feedback control loops, which adversely affects both performance and robustness. Standard LQG control design does not give any guarantees on robustness, while robust control design methods often do not handle controller timing uncertainty. We propose a sampled-data controller synthesis method that minimizes an LQG cost function subject to a jitter margin constraint. By robustifying the LQG controller we are able to retain good stability margins under delay and jitter, while typically paying a small price in terms of nominal performance. We also present a co-design procedure that assigns optimal priorities and sampling periods to a... (More)
In real-time control systems, varying task response times may lead to delays and jitter in the delays in the feedback control loops, which adversely affects both performance and robustness. Standard LQG control design does not give any guarantees on robustness, while robust control design methods often do not handle controller timing uncertainty. We propose a sampled-data controller synthesis method that minimizes an LQG cost function subject to a jitter margin constraint. By robustifying the LQG controller we are able to retain good stability margins under delay and jitter, while typically paying a small price in terms of nominal performance. We also present a co-design procedure that assigns optimal priorities and sampling periods to a set of controllers based on their performance characteristics and jitter sensitivity. The procedure is evaluated on randomized plant sets, showing an improvement over state-of-the-art methods. (Less)
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author
; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
Proceedings of the American Control Conference
volume
2018-June
article number
8430953
pages
3189 - 3196
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
American Control Conference 2018
conference location
Milwaukee, Wisconsin, United States
conference dates
2018-06-27 - 2018-06-29
external identifiers
  • scopus:85052596010
ISBN
978-153865428-6
DOI
10.23919/ACC.2018.8430953
project
ELLIIT LU P02: Co-Design of Robust and Secure Networked Embedded Control Systems
language
English
LU publication?
yes
id
4be3c771-04be-47a6-a8a8-b32e65d86ab8
date added to LUP
2018-04-12 12:59:21
date last changed
2020-12-29 03:29:48
@inproceedings{4be3c771-04be-47a6-a8a8-b32e65d86ab8,
  abstract     = {In real-time control systems, varying task response times may lead to delays and jitter in the delays in the feedback control loops, which adversely affects both performance and robustness. Standard LQG control design does not give any guarantees on robustness, while robust control design methods often do not handle controller timing uncertainty. We propose a sampled-data controller synthesis method that minimizes an LQG cost function subject to a jitter margin constraint. By robustifying the LQG controller we are able to retain good stability margins under delay and jitter, while typically paying a small price in terms of nominal performance. We also present a co-design procedure that assigns optimal priorities and sampling periods to a set of controllers based on their performance characteristics and jitter sensitivity. The procedure is evaluated on randomized plant sets, showing an improvement over state-of-the-art methods.},
  author       = {Xu, Yang and Cervin, Anton and Årzén, Karl-Erik},
  booktitle    = {Proceedings of the American Control Conference},
  isbn         = {978-153865428-6},
  language     = {eng},
  pages        = {3189--3196},
  publisher    = {IEEE - Institute of Electrical and Electronics Engineers Inc.},
  title        = {Jitter-Robust LQG Control and Real-Time Scheduling Co-Design},
  url          = {https://lup.lub.lu.se/search/ws/files/41450649/robustlqg_9.pdf},
  doi          = {10.23919/ACC.2018.8430953},
  volume       = {2018-June},
  year         = {2018},
}