Abstract
In this paper we aim at rendering a wireless networked control system robust with respect to packet losses exploiting routing redundancy. More precisely, we send multiple copies of sensing and actuation data via different routing paths, associated to possibly different delays and packet loss probability, and assume that such data can be re-combined as a weighted linear combination. We extend previous results from the SISO state-feedback to the MIMO output-feedback architecture and provide a methodology to design such weights either to maximize or to constrain a robustness metric based on the notion of Asymptotic Mean Square Stability. Such a metric induces an objective or constraint function that is highly non-linear: we propose a more efficient sub-optimal design methodology that takes into account both the network parameters and the plant dynamics.
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