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

Control and/or scheduling design for systems characterized by limited resources, e.g. networked embedded control systems (NECSs) with limited communication and computation resources, entails an efficient utilization of such scarce resources. Efficient utilization is in the sense of fairly distributing and occupying the resources only if a necessity exists from stability or performance perspective. For this purpose, a robust event-based control and scheduling (RoEBCS) codesign strategy is proposed for NECSs with uncertain but interval-bounded time-varying communication and computation delays. The considered system is modeled as a discrete-time switched polytopic system with an additive norm-bounded uncertainty. The RoEBCS problem is then formulated as a linear matrix inequality feasibility problem for which many efficient solvers are available. The effectiveness of the RoEBCS strategy is illustrated for networked embedded control of a set of mechanically coupled inverted pendulums. Notably, the proposed codesign strategy is generally applicable to discrete-time switched polytopic systems with additive norm-bounded uncertainty.