Codesign of controller, routing and scheduling in WirelessHART networked control systems

In this paper, we provide a novel methodology to co-design controller, scheduling and routing in a wireless control network compliant with the WirelessHART protocol. We both provide a modeling framework and derive a novel suboptimal solution to the linear-quadratic regulator problem for a class of systems that extends Markov jump linear system considering both continuous and discrete inputs. To allow that, our results can be directly implemented in a real WirelessHART network, we setup a receding horizon optimization problem that takes into account the constraint for compliance with WirelessHART and validate our solution on a batch reactor control loop.