Luca Schenato, Univ of Padova, Italy
In this talk I will describe some problems
related the effect of packets loss and random delay on the design
and performance of networked control. In particular, I
will try to show that communication and control are tightly coupled and they
cannot be addressed independently.
For example, where should we place my controller? near the sensors, near the actuators or somewhere in the middle? What is the impact of packet loss on the closed loop performance? Which features should communication protocols have to reduce performance degradation due to packet loss? If sensors and actuators are provided with computational resources, can we use them to improve performance? From a closed-loop performance perspective, is it better to have a protocols with small packet delay and high packet loss or protocols with low packet loss and longer delay? If actuators have no computational resources what should we do when a control packet is loss: use the previous control values (hold-input) or do nothing (zero-input)? These are some of the questions addressed in the presentation. I will propose some possible solutions and comment on their implications on the design of general networked control systems.