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In this paper we investigate the exploitation of redundancy when routingactuation data to a discrete-time LTI system connected to the controller via awireless network affected by packet drops. We assume that actuation packets canbe delivered from the controller to the actuator via multiple paths, eachassociated with a delay and a packet loss probability. We show that the jointdesign of controller gain and routing redundancy exploitation can tremendouslyimprove the control performance. To achieve this goal we set up and solve a LQRproblem for a class of systems that extends discrete-time Markov Jump LinearSystems, in that both continuous and discrete control signals can be actuated.

Co-design of controller and routing redundancy over a wireless network