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Optimal mean square control using the continuous stream model of computation

Abstract : We consider the problem of optimal allocation of computation resources to a set of control tasks sharing a CPU. Each task is used to control a linear and time invariant plant affected by noise and is supposed to have a computation time with known distribution. The metric we use to express the Quality of Control (QoC) is a function of the steady state covariance of the state. We show how the combination of a Resource Reservation scheduler with an unconventional model of computation known as Continuous Stream produces a system that is easy to analyse. In particular, it is possible to compute the QoC of each control loop as a function of the fraction of CPU (bandwidth) that the task receives, and formalise an optimisation problem where a global QoC metric is defined that consolidates the QoC of each task. We show an efficient solution to this optimisation problem and validate its efficacy on a set of numeric examples.
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Submitted on : Monday, April 27, 2020 - 7:26:38 PM
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Daniele Fontanelli, Luca Greco, Luigi Palopoli. Optimal mean square control using the continuous stream model of computation. 54th IEEE Conference on Decision and Control (CDC), Dec 2015, Osaka, Japan. pp.1958 - 1965, ⟨10.1109/CDC.2015.7402494⟩. ⟨hal-01322834⟩



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