In this paper, we propose a new paradigm of control, called a maximum hands-off control. A hands-off control is defined as a control that has a short support per unit time. The maximum hands-off control is the minimum support (or sparsest) per unit time among all controls that achieve control objectives. For finite horizon control, we show the equivalence between the maximum hands-off control and L1-optimal control under a uniqueness assumption called normality. This result rationalizes the use of L1 optimality in computing a maximum hands-off control. We also propose an L1/L2-optimal control to obtain a smooth hands-off control. Furthermore, we give a self-triggered feedback control algorithm for linear time-invariant systems, which achieves a given sparsity rate and practical stability in the case of plant disturbances. An example is included to illustrate the effectiveness of the proposed control.Comment: IEEE Transactions on Automatic Control, 2015 (to appear

SUMMARYThis survey provides a brief introduction to compressed sensing as well as several major algorithms to solve it and its various applications to communications systems. We firstly review linear simultaneous equations as ill-posed inverse problems, since the idea of compressed sensing could be best understood in the context of the linear equations. Then, we consider the problem of compressed sensing as an underdetermined linear system with a prior information that the true solution is sparse, and explain the sparse signal recovery based on 1 optimization, which plays the central role in compressed sensing, with some intuitive explanations on the optimization problem. Moreover, we introduce some important properties of the sensing matrix in order to establish the guarantee of the exact recovery of sparse signals from the underdetermined system. After summarizing several major algorithms to obtain a sparse solution focusing on the 1 optimization and the greedy approaches, we introduce applications of compressed sensing to communications systems, such as wireless channel estimation, wireless sensor network, network tomography, cognitive radio, array signal processing, multiple access scheme, and networked control.

Abstract-This paper proposes a min-max design of noiseshaping delta-sigma (∆Σ) modulators. We first characterize the all stabilizing loop-filters for a linearized modulator model. By this characterization, we formulate the design problem of lowpass, bandpass, and multi-band modulators as minimization of the maximum magnitude of the noise transfer function (NTF) in fixed frequency band(s). We show that this optimization minimizes the worst-case reconstruction error, and hence improves the SNR (signal-to-noise ratio) of the modulator. The optimization is reduced to an optimization with a linear matrix inequality (LMI) via the generalized KYP (Kalman-Yakubovich-Popov) lemma. The obtained NTF is an FIR (finite-impulse-response) filter, which is favorable in view of implementation. We also derive a stability condition for the nonlinear model of ∆Σ modulators with general quantizers including uniform ones. This condition is described as an H ∞ norm condition, which is reduced to an LMI via the KYP lemma. Design examples show advantages of our design.

Abstract-We study feedback control over erasure channels with packet-dropouts. To achieve robustness with respect to packet-dropouts, the controller transmits data packets containing plant input predictions, which minimize a finite horizon cost function. To reduce the data size of packets, we propose to adopt sparsity-promoting optimizations, namely, ℓ 1 -ℓ 2 and ℓ 2 -constrained ℓ 0 optimizations, for which efficient algorithms exist. We show how to design the tuning parameters to ensure (practical) stability of the resulting feedback control systems when the number of consecutive packet-dropouts is bounded.

We investigate a networked control architecture for LTI plant models with a scalar input. Communication from controller to actuator is over an unreliable network which introduces packet dropouts. To achieve robustness against dropouts, we adopt a packetized predictive control paradigm wherein each control packet transmitted contains tentative future plant input values. The novelty of our approach is that we seek that the control packets transmitted be sparse. For that purpose, we adapt tools from the area of compressed sensing and propose to design the control packets via on-line minimization of a suitable ℓ 1 /ℓ 2 cost function. We then show how to choose parameters of the cost function to ensure that the resultant closed loop system be practically stable, provided the maximum number of consecutive packet dropouts is bounded. A numerical example illustrates that sparsity reduces bit-rates, thereby making our proposal suited to control over unreliable and bit-rate limited networks.Key words and phrases. networked control, model predictive control, sparse representation, ℓ 1 /ℓ 2 optimization.

This paper presents a new method for signal reconstruction by leveraging sampled-data control theory. We formulate the signal reconstruction problem in terms of an analog performance optimization problem using a stable discrete-time filter. The proposed performance criterion naturally takes intersample behavior into account, reflecting the energy distributions of the signal. We present methods for computing optimal solutions which are guaranteed to be stable and causal. Detailed comparisons to alternative methods are provided. We discuss some applications in sound and image reconstruction.

Abstract-In this letter, we consider a problem of reconstructing an unknown discrete signal taking values in a finite alphabet from incomplete linear measurements. The difficulty of this problem is that the computational complexity of the reconstruction is exponential as it is. To overcome this difficulty, we extend the idea of compressed sensing, and propose to solve the problem by minimizing the sum of weighted absolute values. We assume that the probability distribution defined on an alphabet is known, and formulate the reconstruction problem as linear programming. Examples are shown to illustrate that the proposed method is effective.

Finite-impulse response (FIR) filters are often preferred to infinite-impulse response (IIR) filters because of their various advantages in respect of stability, phase characteristic, implementation, etc. This letter proposes a new method to approximate an IIR filter by an FIR filter, which directly yields an optimal approximation with respect to the error norm. We show that this design problem can be reduced to a linear matrix inequality. We will also make a comparison via a numerical example with an existing method, known as the Nehari shuffle.