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For a closed-loop system, which has a contention-based multiple access network on its sensor link, the Medium Access Controller (MAC) may discard some packets when the traffic on the link is high. The authors use a local state-based scheduler to select a few critical data packets to send to the MAC. In this paper, they analyze the impact of such a scheduler on the closed-loop system in the presence of traffic, and show that there is a dual effect with state-based scheduling. In general, this makes the optimal scheduler and controller hard to find. However, by removing past controls from the scheduling criterion, they find that certainty equivalence holds.
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