LQG-Based Control and Scheduling Co-Design * *This work was supported in part by the LCCC Linnaeus Center and the ELLIIT Excellence Center at Lund University.

Abstract

Abstract Control and scheduling co-design becomes an issue when several controller tasks share the same execution platform and disrupt the ideal sampling and actuation patterns. In co-design the objective is to optimize the combined performance of all the controllers on the platform, subject to schedulability constraints. In the paper four LQG-based co-design methods are reviewed and evaluated: delay-aware, stochastic, periodic, and harmonic LQG co-design.