On LQR Control with Asynchronous Clocks

Authors: Rahul Singh and Vijay Gupta

50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC)

Abstract

We consider LQR control for a scalar system when
the sensor, controller, and actuator all have their own clocks that
may drift apart from each other. We consider both an affine
and a quadratic clock model. For a quadratic cost function,
we analyze the loss of performance incurred as a function of
how asynchronous the clocks are. This also allows us to obtain
guidelines on how often to utilize the communication resources
to synchronize the clocks.