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Packetized Predictive Control of Stochastic Systems Over Bit-Rate Limited Channels With Packet Loss

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3 Author(s)
Daniel E. Quevedo ; School of Electrical Engineering & Computer Science, The University of Newcastle, Callaghan, Australia ; Jan Ostergaard ; Dragan Nesic

We study a control architecture for linear time-invariant plants with random disturbances and where a network is placed between the controller output and the plant input. The network imposes a constraint on the expected bit-rate and is affected by random independent and identically distributed (i.i.d.) dropouts. Dropout-rates and acknowledgments of receipt are not available at the controller side. To achieve robustness with respect to i.i.d. dropouts, the controller transmits data packets containing quantized plant input predictions. These are provided by an appropriate optimal entropy coded dithered lattice vector quantizer. Within this context, we derive stochastic stability results and provide a noise-shaping model of the closed loop system. This model is employed for performance analysis by using rate-distortion theory.

Published in:

IEEE Transactions on Automatic Control  (Volume:56 ,  Issue: 12 )