Deployment Architectures for Cyber-Physical Control Systems

We consider the problem of how to deploy a controller to a (networked) cyber-physical system (CPS). Con-trolling 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.

我们考虑如何将控制器部署到（网络）网络物理系统（CPS）的问题。控制CPS是一项涉及任务，并且将控制器综合以尊重感应，驱动和通信约束只是挑战的一部分。除了控制器的合成外，还应考虑控制器如何在CPS中工作。换句话说，需要考虑网络层及其与物理层的相互作用。在这项工作中，我们旨在弥合理论控制器合成和实际CPS部署之间的差距。我们采用系统级合成（SLS）框架来合成状态反馈控制器，并为标准SLS控制器提供部署体系结构。此外，我们为开环稳定系统提供了一个新的控制器实现，并引入了四个不同的部署架构，从完全集中到完全分布。最后，我们将它们之间的权衡在稳健性，内存，计算和通信开销方面进行比较。