Communication delay co-design in ℌ<inf>2</inf> decentralized control Using atomic norm minimization

It has been shown that ℌ 2 decentralized control subject to delay constraints induced by a strongly connected communication graph can be solved by decomposing the controller into a centralized but delayed component, and a decentralized finite impulse response component, the latter of which can be solved for via a linearly constrained quadratic program. In this paper, we propose an atomic norm minimization based variant of this quadratic program that can be used for the co-design of a communication graph that is well suited for the control task.