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A framework for the joint design of wireless network and controllers is proposed. Multiple control systems are considered where the sensor measurements are transmitted to the controller over the IEEE 802.15.4 protocol. The essential issues of wireless Networked Control Systems (NCSs) are investigated to provide an abstraction of the wireless network for a co-design approach. The authors first present an analytical model of the packet loss probability and delay of an IEEE 802.15.4 network. Through optimal control techniques they derive the control cost as a function of the packet loss probability and delay.
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