Jitter-Robust LQG Control and Real-Time Scheduling Co-Design

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In real-time control systems, varying task response times may lead to delays and jitter in the delays in the feedback control loops, which adversely affects both performance and robustness. Standard LQG control design does not give any guarantees on robustness, while robust control design methods often do not handle controller timing uncertainty. We propose a sampled-data controller synthesis method that minimizes an LQG cost function subject to a jitter margin constraint. By robustifying the LQG controller we are able to retain good stability margins under delay and jitter, while typically paying a small price in terms of nominal performance. We also present a co-design procedure that assigns optimal priorities and sampling periods to a set of controllers based on their performance characteristics and jitter sensitivity. The procedure is evaluated on randomized plant sets, showing an improvement over state-of-the-art methods.
Original languageEnglish
Title of host publicationProceedings of the American Control Conference
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
ISBN (Print)978-153865428-6
Publication statusPublished - 2018
EventAmerican Control Conference 2018 - Milwaukee, WI, Milwaukee, Wisconsin, United States
Duration: 2018 Jun 272018 Jun 29


ConferenceAmerican Control Conference 2018
Abbreviated titleACC 2018
Country/TerritoryUnited States
CityMilwaukee, Wisconsin
Internet address

Subject classification (UKÄ)

  • Control Engineering


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