Soft real-time scheduling of networked control systems with dropouts governed by a Markov chain

This paper derives an equation for a networked control system's performance as a function of the network's dropout process. The dropout process is governed by a Markov chain. The equation computes the system output power as a function of the Markov chain's transition matrix. This equation is used to pose an optimization problem whose solution yields the transition matrix the optimized closed loop output power for fixed average dropout rates.