Networked embedded control systems are present almost everywhere. A recent trendis to introduce radio communication in these systems to increase mobility and flex-ibility. Network nodes, such as the sensors, are often simple devices with limitedcomputing and transmission power and low storage capacity, so an important prob-lem concerns how to optimize the use of resources to provide sustained overall sys-tem performance. The approach to this problem taken in the thesis is to analyzeand design the communication and control application layers in an integrated man-ner. We focus in particular on cross-layer design techniques for closed-loop controlover non-ideal communication channels, motivated by future control systems withvery low-rate and highly quantized sensor communication over noisy links. Severalfundamental problems in the design of source–channel coding and optimal controlfor these systems are discussed.The thesis consists of three parts. The first and main part is devoted to the jointdesign of the coding and control for linear plants, whose state feedback is trans-mitted over a finite-rate noisy channel. The system performance is measured by afinite-horizon linear quadratic cost. We discuss equivalence and separation proper-ties of the system, and conclude that although certainty equivalence does not holdin general it can still be utilized, under certain conditions, to simplify the overalldesign by separating the estimation and the control problems. An iterative opti-mization algorithm for training the encoder–controller pairs, taking channel errorsinto account in the quantizer design, is proposed. Monte Carlo simulations demon-strate promising improvements in performance compared to traditional approaches.In the second part of the thesis, we study the rate allocation problem for statefeedback control of a linear plant over a noisy channel. Optimizing a time-varyingcommunication rate, subject to a maximum average-rate constraint, can be viewedas a method to overcome the limited bandwidth and energy resources and to achievebetter overall performance. The basic idea is to allow the sensor and the controllerto communicate with a higher data rate when it is required. One general obstacle ofoptimal rate allocation is that it often leads to a non-convex and non-linear problem.We deal with this challenge by using high-rate theory and Lagrange duality. It isshown that the proposed method gives a good performance compared to some otherrate allocation schemes.In the third part, encoder–controller design for Gaussian channels is addressed.Optimizing for the Gaussian channel increases the controller complexity substan-tially because the channel output alphabet is now infinite. We show that an efficientcontroller can be implemented using Hadamard techniques. Thereafter, we proposea practical controller that makes use of both soft and hard channel outputs. / QC 20100623

<p>Networked embedded control systems are present almost everywhere. A recent trend is to introduce wireless sensor networks in these systems, to take advantage of the added mobility and flexibility offered by wireless solutions. In such networks, the sensor observations are typically quantized and transmitted over noisy links. Concerning the problem of closed-loop control over such non-ideal communication channels, relatively few works have appeared so far. This thesis contributes to this field, by studying some fundamentally important problems in the design of joint source--channel coding and optimal control.</p><p>The main part of the thesis is devoted to joint design of the coding and control for scalar linear plants, whose state feedbacks are transmitted over binary symmetric channels. The performance is measured by a finite-horizon linear quadratic cost function. The certainty equivalence property of the studied systems is utilized, since it simplifies the overall design by separating the estimation and the control problems. An iterative optimization algorithm for training the encoder--decoder pairs, taking channel errors into account in the quantizer design, is proposed. Monte Carlo simulations demonstrate promising improvements in performance compared to traditional approaches.</p><p>Event-triggered control strategies are a promising solution to the problem of efficient utilization of communication resources. The basic idea is to let each control loop communicate only when necessary. Event-triggered and quantized control are combined for plants affected by rarely occurring disturbances. Numerical experiments show that it is possible to achieve good control performance with limited control actuation and sensor communication.</p>

Technological innovation that empowers tiny low-cost transceivers to operate with a high degree of utilisation efficiency in multihop wireless mesh networks is contributed in this dissertation. Transmission scheduling and joint source-channel-network coding are two of the main aspects that are addressed. This work focuses on integrating recent enhancements such as wireless network coding and temporal reuse into a cross-layer optimisation framework, and to design a joint coding scheme that allows for space-optimal transceiver implementations. Link-assigned transmission schedules with timeslot reuse by multiple links in both the space and time domains are investigated for quasi-stationary multihop wireless mesh networks with both rate and power adaptivity. Specifically, predefined cross-layer optimised schedules with proportionally fair end-to-end flow rates and network coding capability are constructed for networks operating under the physical interference model with single-path minimum hop routing. Extending transmission rights in a link-assigned schedule allows for network coding and temporal reuse, which increases timeslot usage efficiency when a scheduled link experiences packet depletion. The schedules that suffer from packet depletion are characterised and a generic temporal reuse-aware achievable rate region is derived. Extensive computational experiments show improved schedule capacity, quality of service, power efficiency and benefit from opportunistic bidirectional network coding accrued with schedules optimised in the proposed temporal reuse-aware convex capacity region. The application of joint source-channel coding, based on fountain codes, in the broadcast timeslot of wireless two-way network coding is also investigated. A computationally efficient subroutine is contributed to the implementation of the fountain compressor, and an error analysis is done. Motivated to develop a true joint source-channel-network code that compresses, adds robustness against channel noise and network codes two packets on a single bipartite graph and iteratively decodes the intended packet on the same Tanner graph, an adaptation of the fountain compressor is presented. The proposed code is shown to outperform a separated joint source-channel and network code in high source entropy and high channel noise regions, in anticipated support of dense networks that employ intelligent signalling. AFRIKAANS : Tegnologiese innovasie wat klein lae-koste kommunikasie toestelle bemagtig om met ’n hoë mate van benuttings doeltreffendheid te werk word bygedra in hierdie proefskrif. Transmissie-skedulering en gesamentlike bron-kanaal-netwerk kodering is twee van die belangrike aspekte wat aangespreek word. Hierdie werk fokus op die integrasie van onlangse verbeteringe soos draadlose netwerk kodering en temporêre herwinning in ’n tussen-laag optimaliserings raamwerk, en om ’n gesamentlike kodering skema te ontwerp wat voorsiening maak vir spasie-optimale toestel implementerings. Skakel-toegekende transmissie skedules met tydgleuf herwinning deur veelvuldige skakels in beide die ruimte en tyd domeine word ondersoek vir kwasi-stilstaande, veelvuldige-sprong draadlose rooster netwerke met beide transmissie-spoed en krag aanpassings. Om spesifiek te wees, word vooraf bepaalde tussen-laag geoptimiseerde skedules met verhoudings-regverdige punt-tot-punt vloei tempo’s en netwerk kodering vermoë saamgestel vir netwerke wat bedryf word onder die fisiese inmengings-model met enkel-pad minimale sprong roetering. Die uitbreiding van transmissie-regte in ’n skakel-toegekende skedule maak voorsiening vir netwerk kodering en temporêre herwinning, wat tydgleuf gebruiks-doeltreffendheid verhoog wanneer ’n geskeduleerde skakel pakkie-uitputting ervaar. Die skedules wat ly aan pakkie-uitputting word gekenmerk en ’n generiese temporêre herwinnings-bewuste haalbare transmissie-spoed gebied word afgelei. Omvattende berekenings-eksperimente toon verbeterde skedulerings kapasiteit, diensgehalte, krag doeltreffendheid asook verbeterde voordeel wat getrek word uit opportunistiese tweerigting netwerk kodering met die skedules wat geoptimiseer word in die temporêre herwinnings-bewuste konvekse transmissie-spoed gebied. Die toepassing van gesamentlike bron-kanaal kodering, gebaseer op fontein kodes, in die uitsaai-tydgleuf van draadlose tweerigting netwerk kodering word ook ondersoek. ’n Berekenings-effektiewe subroetine word bygedra in die implementering van die fontein kompressor, en ’n foutanalise word gedoen. Gemotiveer om ’n ware gesamentlike bron-kanaal-netwerk kode te ontwikkel, wat robuustheid byvoeg teen kanaal geraas en twee pakkies netwerk kodeer op ’n enkele bipartiete grafiek en die beoogde pakkie iteratief dekodeer op dieselfde Tanner grafiek, word ’n aanpassing van die fontein kompressor aangebied. Dit word getoon dat die voorgestelde kode ’n geskeide gesamentlike bron-kanaal en netwerk kode in hoë bron-entropie en ho¨e kanaal-geraas gebiede oortref in verwagte ondersteuning van digte netwerke wat van intelligente sein-metodes gebruik maak. / Dissertation (MEng)--University of Pretoria, 2011. / Electrical, Electronic and Computer Engineering / unrestricted

Networked embedded control systems are present almost everywhere. A recent trend is to introduce wireless sensor networks in these systems, to take advantage of the added mobility and flexibility offered by wireless solutions. In such networks, the sensor observations are typically quantized and transmitted over noisy links. Concerning the problem of closed-loop control over such non-ideal communication channels, relatively few works have appeared so far. This thesis contributes to this field, by studying some fundamentally important problems in the design of joint source--channel coding and optimal control. The main part of the thesis is devoted to joint design of the coding and control for scalar linear plants, whose state feedbacks are transmitted over binary symmetric channels. The performance is measured by a finite-horizon linear quadratic cost function. The certainty equivalence property of the studied systems is utilized, since it simplifies the overall design by separating the estimation and the control problems. An iterative optimization algorithm for training the encoder--decoder pairs, taking channel errors into account in the quantizer design, is proposed. Monte Carlo simulations demonstrate promising improvements in performance compared to traditional approaches. Event-triggered control strategies are a promising solution to the problem of efficient utilization of communication resources. The basic idea is to let each control loop communicate only when necessary. Event-triggered and quantized control are combined for plants affected by rarely occurring disturbances. Numerical experiments show that it is possible to achieve good control performance with limited control actuation and sensor communication. / QC 20101109