The Effect of Time Delay on the Average Data Rate and Performance in Networked Control Systems

This paper studies the performance of a feedback control loop closed via an error-free digital communication channel with transmission delay. The system comprises discrete-time noisy linear time-invariant (LTI) plant whose single measurement output is mapped into its input by causal, but otherwise arbitrary, coding and scheme. We consider single-input multiple-output (SIMO) between encoder-controller decoder-controller which lossless imposes random time derive lower bound on minimum average data rate that guarantees achieving certain level quadratic over all possible realizations For special case constant delay, we obtain upper proposing source-coding schemes attain desired levels rates are at most 1.254 bits per sample greater than bound. supplement our results numerical experiment demonstrating obtained bounds operational increasing functions