Event-based distributed control of dynamically coupled and constrained linear systems

In this paper, a novel event-based distributed control strategy for a set of dynamically coupled discrete-time LTI plants is proposed. To avoid unnecessary communication among the distributed control system, each plant with its local controller is equipped with an event generator deciding locally whether new state measurements must be sent or not. Via a tuning parameter and a codesign of event generator and controller, the designer can adjust an eligible trade-off between control performance and communication utilization. Further state and input constraints as well as constraints on the communication topology can be included into the codesign. With a quadratic event-triggering law and the socalled S-procedure the codesign can be formulated as an LMI optimization problem which guarantees asymptotical stability of the closed-loop system and compliance with the constraints. The effectiveness of the approach is evaluated for distributed control of a set of mechanically coupled inverted pendulums.