Modular co-design of controllers and transmission schedules in WirelessHART

We consider the joint design of transmission schedules and controllers for networked control loops that use WirelessHART communication for sensor and actuator data. By parameterizing the design problem in terms of the sampling rate of the control loop, the co-design problem separates into two well-defined subproblems which admit optimal solutions: transmission scheduling should be done to maximize the delay-constrained reliability while the control design should optimize closed-loop performance under packet loss. We illustrate how these problems can be solved and demonstrate our co-design framework for the case of linear-quadratic control.