Optimization Approaches for Controller and Schedule Codesign in Networked Control

We consider the offline optimization of a sequence for communication scheduling in networked control systems. Given a continuous-time Linear Quadratic Regulator (LQR) problem we design a sampled-data periodic controller based on the continuous time LQR controller that takes into account the limited communication medium and inter-sampling behavior. To allow for a Riccati equation approach, singularities in the weighting matrices and timevariance are accounted for using a lifting approach. Optimal scheduling can be obtained by solving a complex combinatorial optimization problem and, in contrast to other work, it is considered for the multi-channel case. Two stochastic algorithms, the genetic algorithm and the particle swarm optimization algorithm will be proposed to find a (sub)optimal sequence and the associated optimal controller which is the result of a discrete algebraic Riccati equation for the given optimal sequence.