M. Rotkowitz, R. Cogill, and S. Lall
A Simple Condition for the Convexity of Optimal Control over Networks with Delays
Proceedings of the IEEE Conference on Decision and Control / European Control Conference, pp. 6686-6691, December 2005.

Abstract

We consider the problem of multiple subsystems, each with its own controller, such that the dynamics of each subsystem may affect those of other subsystems with some propagation delays, and the controllers may communicate with each other with some transmission delays. We wish to synthesize controllers to minimize a closed-loop norm for the entire system. We show that if the transmission delays satisfy the triangle inequality, then the simple condition that the transmission delay between any two subsystems is less than the propagation delay between those subsystems allows for the optimal control problem to be recast as a convex optimization problem.