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Topological Conditions for Wireless Control Networks
Real-Time and Embedded Systems Lab (mLAB)
  • Miroslav Pajic, University of Pennsylvania
  • Shreyas Sundaram, University of Waterloo
  • George J. Pappas, University of Pennsylvania
  • Rahul Mangharam, University of Pennsylvania
Document Type
Conference Paper
Date of this Version
1-1-2011
Comments

50th IEEE Conference on Decision and Control (CDC) and European Control Conference, Orlando, FL, December 2012

Abstract

We study the problem of stabilizing a linear system over a wireless control network. We propose a scheme where each wireless node maintains a scalar state, and periodically updates it as a linear combination of neighboring plant outputs and node states. We make connections to decentralized fixed modes and structured system theory to provide conditions on the network topology that allow the system to be stabilized. Our analysis provides the minimal number of feedback edges that have to be introduced to stabilize the system over a network, and shows that as long as the network connectivity is larger than the geometric multiplicity of any unstable eigenvalue, stabilizing controllers can be constructed at each actuator. A byproduct of our analysis is that by co-designing the network dynamics with the controllers, delays in the network are not a factor in stabilizing the system.

Citation Information
Miroslav Pajic, Shreyas Sundaram, George J. Pappas and Rahul Mangharam. "Topological Conditions for Wireless Control Networks" (2011)
Available at: http://works.bepress.com/george_pappas/250/