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Sampling-Rate Based Co-design Method of Control Systems Integrated with Time Sensitive Networking

Traditional methods for designing cyber-physical systems (CPS) are mostly based on the best-effort communication to design control and transmission mechanisms independently, which limits the overall system performance. Moreover, these methods focus on the utilization of transmission resources without sufficient consideration of deterministic low latency communication. Hence, the co-design of control and transmission in CPS integrated with Time Sensitive Networking (TSN), that provides deterministic transmission, is a promising and challenging problem. In this paper, we propose a co-design method of control and transmission mechanisms by optimizing the sampling rates of control systems with a shared multi-hop TSN. This co-design method is formulated as a mixed-integer nonlinear programming (MINLP) problem to minimize the overall control cost while ensuring all data flows to meet their end-to-end deadlines. To solve this MINLP problem with the greatest common divisor (GCD) and bilinear constraints efficiently, we adopt the scaling method and McCormick envelopes to eliminate the non-differentiable and nonlinear terms. Moreover, we design an optimized linearization method to solve the trade-off problem between the algorithm runtime and accuracy while reducing computational complexity. Simulations demonstrate that the proposed approach significantly improves the overall system performance.