Abstract
Wireless networked control system (WNCS) is a control system that a wireless network closes the control loop. WNCS estimator, i.e., Kalman filter, estimates the system state according to the observations of sensors. These observations which are from N independent subnetworks are conveyed to the Kalman filter through vacant bands opportunistically with cognitive radio capability of the nodes. We characterize the successful packet delivery probability and study the maximization of energy-efficiency of overall system under the convergence constraint of the Kalman filter by defining an optimization problem. We also find a lower bound on maximum total coverage area. Furthermore, we perform numerical analysis to observe the effects of system parameters such as number of subnetworks, average ON probability of primary users, transmission ranges and densities of sensor nodes and primary users, and false alarm probability.
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