Optimal Linear Control over Channels with Signal-to-Noise Ratio Constraints

Abstract

We consider a networked control system where a linear time-invariant (LTI) plant, subject to a stochastic disturbance, is controlled over a communication channel with colored noise and a signal-to-noise ratio (SNR) constraint. The controller is based on output feedback and consists of an encoder that measures the plant output and transmits over the channel, and a decoder that receives the channel output and issues the control signal. The objective is to stabilize the plant and minimize a quadratic cost function, subject to the SNR constraint. It is shown that optimal LTI controllers can be obtained by solving a convex optimization problem in the Youla parameter and performing a spectral factorization. The functional to minimize is a sum of two terms: the first is the cost in the classical linear quadratic control problem and the second is a new term that is induced by the channel noise. %todo ta bort meningen? A necessary and sufficient condition on the SNR for stabilization by an LTI controller follows directly from a constraint of the optimization problem. It is shown how the minimization can be approximated by a semidefinite program. The solution is finally illustrated by a numerical example.