Data to Certificate: Guaranteed Cost Control with Quantization-Aware System Identification

Abstract

Cloud-assisted system identification and control have emerged as practical solutions for low-power, resource-constrained control systems such as micro-UAVs. In a typical cloud-assisted setting, state and input data are transmitted from local agents to a central computer over low-bandwidth wireless links, leading to quantization. This paper investigates the impact of state and input data quantization on a linear time invariant (LTI) system identification, derives a worst-case bound on the identification error, and develops a robust controller for guaranteed cost control. We establish a fundamental bound on the model error that depends only on the quantized data and quantization resolution, and develop a linear matrix inequality (LMI) based guaranteed cost robust controller under this error bound.