Deployment Architectures for Cyber-Physical Control Systems
- Creators
- Tseng, Shih-Hao
- Anderson, James
Abstract
We consider the problem of how to deploy a controller to a (networked) cyber-physical system (CPS). Controlling a CPS is an involved task, and synthesizing a controller to respect sensing, actuation, and communication constraints is only part of the challenge. In addition to controller synthesis, one should also consider how the controller will work in the CPS. Put another way, the cyber layer and its interaction with the physical layer need to be taken into account.In this work, we aim to bridge the gap between theoretical controller synthesis and practical CPS deployment. We adopt the system level synthesis (SLS) framework to synthesize a state-feedback controller and provide a deployment architecture for the standard SLS controller. Furthermore, we derive a new controller realization for open-loop stable systems and introduce four different architectures for deployment, ranging from fully centralized to fully distributed. Finally, we compare the trade-offs among them in terms of robustness, memory, computation, and communication overhead.
Additional Information
© 2020 AACC.Attached Files
Submitted - 1911.01510.pdf
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Additional details
- Eprint ID
- 104670
- DOI
- 10.23919/acc45564.2020.9147953
- Resolver ID
- CaltechAUTHORS:20200730-143943586
- Created
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2020-07-31Created from EPrint's datestamp field
- Updated
-
2023-01-19Created from EPrint's last_modified field