Improved Joint Optimization Design for Wireless Sensor and Actuator Networks with Time Delay

Algorithm 2

Three-step joint optimization algorithm.

1 Step 1:

2 Use minimum hop routing algorithm.

3 Derive the set of candidate transmission paths as in (16) that

4 Step 2:

5 For a given candidate transmission path

6 Initialize .

7 fordo

8   Calculate by using (26) that

   .

9   Calculate by using (26) that

   .

10 end

11 Initialize , .

12 fordo

13  Obtain .

14  Calculate by using (24) that

  .

15 end

16 Step 3

17 for

18  Calculate

  .

19 end

20 Derive the best transmission path by using (28)

  .

21 The corresponding optimal control design is

  .