Abstract
In this work, we ask what the minimum data-rate is for a possibly nonlinear control law acting on a linear system to emulate the closed-loop behavior of a desired linear control law. This result gives an implicit estimate for the information flow in the feedback path of the closed-loop linear system. We formally introduce the notion of emulation and control law, and we present a data-rate theorem. Remarkably, we note that the minimum data-rate varies discontinuously with the parameters of the open and closed-loop systems. This feature is new since the usual data-rate theorem, which only requires stabilization instead of emulation, gives a continuously varying minimum data-rate.
Published Version
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