An Approach to Observer-Based Decentralized Control under Periodic Protocols

Abstract-This paper provides an approach to analyze and design decentralized observer-based controllers for large-scale linear plants subject to network communication constraints and varying sampling intervals. Due to communication constraints, it is impossible to transmit all input and output data simultaneously over the communication network that connects sensors, actuators and controllers. A protocol orchestrates what data is sent over the network at each transmission instant. To handle these communication constraints, it is fruitful to adopt a switched observer structure that switches based on the transmitted information. By taking a discrete-time switched linear system perspective, we are able to derive a general model that captures all these aspects and provides insight into how they influence each other. Focusing on the class of so-called 'periodic protocols' (of which the well-known Round Robin protocol is a special case), we provide a method to assess robust stability using a polytopic overapproximation and LMI-based stability conditions. Although the design problem is in general non-convex, we provide a procedure to find stabilizing control laws by simplifying the control problem. The design of the controller exploits the periodicity of protocols and ignores the global coupling between subsystems of the plant and variation of the sampling intervals. To assess the robust stability of the resulting closed-loop system including the ignored effects, an a posteriori analysis is conducted based on the derived LMIs