Network Scheduling and Control Co-Design for Multi-Loop MPC

Abstract

This paper is concerned with model predictive control (MPC) for multi-loop networked control systems over shared bandwidth-limited communication networks. The plants are described by linear discrete-time systems with additive disturbances and input constraints. At each time instant, only a limited number of loops can communicate over the networks, and the scheduling sequence is determined by a network manager. Algorithms are proposed for co-designing the MPC and the scheduling protocol to stabilize all loops with conflict-free transmissions. We give conditions to ensure recursive feasibility of the optimization problems and the stability of all loops. Finally, two numerical examples show that the algorithms work well.