5.4 Stochastic systems: stability
In the previous section, we studied the communication requirements for controllers with separated state estimation and control. However, there are two limitations to this setup:
• For generic cases, it is not clear whether separated state estimation and control are optimal.
• For the communication channel, we used the channel capacity to measure the capability of conveying information. However, the concept of channel capacity is reasonable for communications with long delays, not for the case of CPSs with very limited delays.
• The possible transmission errors, due to the noisy channel, are not considered.
Hence in this section, we will study a novel metric for the communication channel in the context of ...
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