Optimal Sampling Schedules for $h_{2}$ and $h_{\infty}$ State-Feedback Control

We consider a discrete-time linear system for which the control input is updated at every sampling time, but the state is measured at a slower rate. We allow the state to be sampled according to a periodic schedule, which dictates when the state should be sampled over a period. Given a desired average sampling interval, our goal is to determine sampling schedules that are optimal in the sense that they minimize the
$h_{2}$
or the
$h_{\infty}$
closed-loop norm, under an optimal state-feedback control law. Our results show that, when the desired average sampling interval is an integer, the optimal state sampling turns out to be evenly spaced. This result indicates that, for the
$h_{2}$
and
$h_{\infty}$
performance metrics, there is relatively little benefit to going beyond constant-period sampling.