Event-Based Control and Scheduling Codesign of Networked Embedded Control Systems

For networked embedded control systems (NECSs) besides control performance an efficient usage of computation and communication resources is crucial. This paper presents a novel event-based codesign concept for NECSs. The codesign concept involves a joint design of a control law, a scheduler, and an event generator. The control law serves for improving control performance, the scheduler and the event generator for an efficient usage of the limited resources. The codesign problem is formulated as a linear matrix inequality (LMI) problem which can be solved efficiently. The developed theory is evaluated through a simulation for networked embedded control of a set of inverted pendulums. Noteworthy, the codesign concept is generally applicable to discrete-time switched linear systems.