dualtiy model of tcp/aqm - caltech · pdf filesteven low cs & ee, caltech...
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Copyright, 1996 © Dale Carnegie & Associates, Inc.
Dualtiy Model of TCP/AQM
Steven Low
CS & EE, Caltechnetlab.caltech.edu
2002
Acknowledgments
S. Athuraliya, D. Lapsley, V. Li, Q. Yin (UMelb)S. Adlakha (UCLA), D. Choe(Postech/Caltech), J. Doyle (Caltech), K. Kim (SNU/Caltech), L. Li (Caltech), F.Paganini (UCLA), J. Wang (Caltech)L. Peterson, L. Wang (Princeton)
Network protocols.
HTTP
TCP
IP
Routers
Files
packetspacketspacketspacketspacketspackets
from J. Doyle
Web servers
web traffic
Is streamed out on the net.
Creating internet traffic
Webclient
from J. Doyle
Congestion Control
Heavy tail Mice-elephants
Elephant
Internet
Mice
Congestion control
efficient & fair sharing small delay
queueing + propagation
CDN
TCP
xi(t)
TCP & AQM
xi(t)
pl(t)
Example congestion measure pl(t)Loss (Reno)Queueing delay (Vegas)
Outline
Protocol (Reno, Vegas, RED, REM/PI…)
EquilibriumPerformance
Throughput, loss, delayFairnessUtility
DynamicsLocal stabilityCost of stabilization
))( ),(( )1())( ),(( )1(txtpGtptxtpFtx
=+=+
TCP & AQM
xi(t)
pl(t)
Duality theory equilibrium Source rates xi(t) are primal variablesCongestion measures pl(t) are dual variablesFlow control is optimization process
TCP & AQM
xi(t)
pl(t)
Control theory stabilityInternet as a feedback systemDistributed & delayed
Outline
TCP/AQM Reno/RED
EquilibriumDuality model
Stability & optimal controlLinearized model
A scalable control
TCP & AQM
xi(t)
pl(t)
TCP: RenoVegas
AQM:DropTailREDREM/PIAVQ
TCP & AQM
xi(t)
pl(t)
TCP: RenoVegas
AQM:DropTailREDREM/PIAVQ
TCP/AQMTahoe (Jacobson 1988)
Slow StartCongestion AvoidanceFast Retransmit
Reno (Jacobson 1990)Fast Recovery
Vegas (Brakmo & Peterson 1994)New Congestion Avoidance
RED (Floyd & Jacobson 1993)REM/PI (Athuraliya et al 2000, Hollot et al 2001)AVQ (Kunniyur & Srikant 2001)
Model structure
F1
FN
G1
GL
Rf(s)
Rb’(s)
TCP Network AQM
Multi-link multi-source network
x y
q p
from F. Paganini
TCP Reno (Jacobson 1990)
SStime
window
CA
SS: Slow StartCA: Congestion Avoidance Fast retransmission/fast recovery
TCP Vegas (Brakmo & Peterson 1994)
SStime
window
CA
Converges, no retransmission… provided buffer is large enough
queue size
for every RTT
{ if W/RTTmin – W/RTT < α then W ++
if W/RTTmin – W/RTT > α then W -- }
for every loss
W := W/2
Vegas model
pl(t+1) = [pl(t) + yl (t)/cl - 1]+Gl:
( )
<+=+ iiiii
ii dtqtxD
txtx α)()( if 1 )(1 2
( ) else )(1 txtx ss =+
Fi:
( )
>−=+ iiiii
ii dtqtxD
txtx α)()( if 1 )(1 2
Vegas model
F1
FN
G1
GL
Rf(s)
Rb’(s)
TCP Network AQM
x y
q p
+
−+= 1)()(
l
lll c
tytpG
( ))()(sgn ))((
1 )( 2 tqtxdtqd
txF iiiiii
ii −+
+= α
Overview
Protocol (Reno, Vegas, RED, REM/PI…)
EquilibriumPerformance
Throughput, loss, delayFairnessUtility
DynamicsLocal stabilityCost of stabilization
))( ),(( )1())( ),(( )1(txtpGtptxtpFtx
=+=+
Outline
TCP/AQMReno/RED
EquilibriumDuality model
StabilityLinearized model
A scalable control
Flow control
Interaction of source rates xs(t) and congestion measures pl(t)Duality theory
They are primal and dual variables Flow control is optimization process
Example congestion measureLoss (Reno)Queueing delay (Vegas)
Model
c1 c2
NetworkLinks l of capacities cl
Sources iL(s) - links used by source iUi(xi) - utility if source rate = xi
x1
x2x3
121 cxx ≤+ 231 cxx ≤+
Primal problem
Llcy
xU
ll
iii
xi
∈∀≤
∑≥
, subject to
)( max0
AssumptionsStrictly concave increasing Ui
Unique optimal rates xi existDirect solution impractical
Related WorkFormulation
Kelly 1997Penalty function approach
Kelly, Maulloo & Tan 1998Kunniyur & Srikant 2000
Duality approachLow & Lapsley 1999Athuraliya & Low 2000
ExtensionsMo & Walrand 2000La & Anantharam 2000
DynamicsJohari & Tan 2000, Massoulie 2000, Vinnicombe 2000, …Hollot, Misra, Towsley & Gong 2001Paganini 2000, Paganini, Doyle, Low 2001, …
Duality Approach
))( ),(( )1())( ),(( )1(txtpGtptxtpFtx
=+=+
Primal-dual algorithm:
−+=
∈∀≤
∑∑
∑
≥≥
≥
)( )( max )( min
, subject to )( max
00
0
:Dual
:Primal
ll
ll
sss
xp
ll
sss
x
xcpxUpD
LlcxxU
s
s
Duality Model of TCP
))( ),(( )1())( ),(( )1(txtpGtptxtpFtx
=+=+
Primal-dual algorithm:
Reno, Vegas
DropTail, RED, REM
Source algorithm iterates on ratesLink algorithm iterates on pricesWith different utility functions
Duality Model of TCP
))( ),(( )1())( ),(( )1(txtpGtptxtpFtx
=+=+
Primal-dual algorithm:
Reno, Vegas
DropTail, RED, REM
(x*,p*) primal-dual optimal if and only if
0 if equality with ** >≤ lll pcy
Duality Model of TCP
))( ),(( )1())( ),(( )1(txtpGtptxtpFtx
=+=+
Primal-dual algorithm:
Reno, Vegas
DropTail, RED, REM
Any link algorithm that stabilizes queuegenerates Lagrange multiplierssolves dual problem
Gradient algorithm
Gradient algorithm
))(( )1( : source 1' tqUtx iii−=+
+−+=+ )])(()([ )1( :link lllll ctytptp γ
Theorem (Low & Lapsley ’99)
Converge to optimal rates in distributed asynchronous environment
Gradient algorithm
Gradient algorithm
))(( )1( : source 1' tqUtx iii−=+
+−+=+ )])(()([ )1( :link lllll ctytptp γ
Vegas: approximate gradient algorithm
( ))()(sgn ))((
1 )( 2 txtxtqd
txF iiii
ii −+
+=
))(( 1' tqU ii−
Summary: equilibrium
Llcx
xU
l
l
sss
xs
∈∀≤
∑≥
, subject to
)( max0
Flow control problem
TCP/AQM Maximize aggregate source utilityWith different utility functions
Primal-dual algorithm
))( ),(( )1())( ),(( )1(txtpGtptxtpFtx
=+=+ Reno, Vegas
DropTail, RED, REM
Implications
PerformanceRate, delay, queue, loss
FairnessUtility function
Persistent congestion
Performance
DelayCongestion measures: end to end queueingdelay
Sets rate
Equilibrium condition: Little’s Law
LossNo loss if converge (with sufficient buffer)Otherwise: revert to Reno (loss unavoidable)
)()(
tqdtxs
sss α=
Vegas Utility
iiiii xdxU log)( α=
Equilibrium (x, p) = (F, G)
Proportional fairness
Validation (L. Wang, Princeton)
Source 1 Source 3 Source 5
RTT (ms) 17.1 (17) 21.9 (22) 41.9 (42) Rate (pkts/s) 1205 (1200) 1228 (1200) 1161 (1200)Window (pkts) 20.5 (20.4) 27 (26.4) 49.8 (50.4)Avg backlog (pkts) 9.8 (10)
NS-2 simulation, single link, capacity = 6 pkts/ms5 sources with different propagation delays, αs = 2 pkts/RTT
meausred theory
Persistent congestionVegas exploits buffer process to compute prices (queueing delays)Persistent congestion due to
Coupling of buffer & priceError in propagation delay estimation
ConsequencesExcessive backlogUnfairness to older sources
Theorem (Low, Peterson, Wang ’02)
A relative error of εs in propagation delay estimation distorts the utility function to
sssssssss xdxdxU εαε ++= log)1()(ˆ
Validation (L. Wang, Princeton)
Single link, capacity = 6 pkt/ms, αs = 2 pkts/ms, ds = 10 msWith finite buffer: Vegas reverts to Reno
Without estimation error With estimation error
Validation (L. Wang, Princeton)
Source rates (pkts/ms)# src1 src2 src3 src4 src51 5.98 (6)2 2.05 (2) 3.92 (4)3 0.96 (0.94) 1.46 (1.49) 3.54 (3.57)4 0.51 (0.50) 0.72 (0.73) 1.34 (1.35) 3.38 (3.39)5 0.29 (0.29) 0.40 (0.40) 0.68 (0.67) 1.30 (1.30) 3.28 (3.34)
# queue (pkts) baseRTT (ms)1 19.8 (20) 10.18 (10.18)2 59.0 (60) 13.36 (13.51)3 127.3 (127) 20.17 (20.28)4 237.5 (238) 31.50 (31.50)5 416.3 (416) 49.86 (49.80)
Outline
Protocol (Reno, Vegas, RED, REM/PI…)
EquilibriumPerformance
Throughput, loss, delayFairnessUtility
DynamicsLocal stabilityCost of stabilization
))( ),(( )1())( ),(( )1(txtpGtptxtpFtx
=+=+
Vegas model
F1
FN
G1
GL
Rf(s)
Rb’(s)
TCP Network AQM
x y
q p
+
−+= 1)()(
l
lll c
tytpG
( ))()(sgn ))((
1 )( 2 tqtxdtqd
txF iiiiii
ii −+
+= α
Vegas model
F1
FN
G1
GL
Rf(s)
Rb’(s)
TCP Network AQM
x y
q p
[ ] lieR lislif link uses source if τv−=
[ ] lieR lislib link uses source if τw−=
Approximate model
( )ii
iid
tqtxi tT
tx α)()(
2 1sgn )(
1 )( −=&
Approximate model
( )ii
iid
tqtxi tT
tx α)()(
2 1sgn )(
1 )( −=&
( )ii
iid
tqtxi tT
tx αηπ
)()(1-2 1 tan
)(12 )( −=&
Linearized model
iii
i
i
ii q
asTa
qxx ∂
+−=∂ & l
ll y
cp ∂−=∂ γ&
F1
FN
G1
GL
Rf(s)
Rb’(s)
TCP Network AQM
x y
q p
12 ii
i Txa
πη
−= γ controls equilibrium delay
Stability
Cannot be satisfied with >1 bottleneck link!
Theorem (Choe & Low, ‘02)
Locally asymptotically stable if
c
c
i
i
aa
ωωsin
min
time triprouddelay queueinglink
> > 0.63
Stabilized Vegas
( ))(1 tan)(
12 )( )()(1-2 tq
tTtx iid
tqtxi ii
ii && κηπ α −−=
( )ii
iid
tqtxi tT
tx αηπ
)()(1-2 1 tan
)(12 )( −=&
Linearized model
iii
i
i
ii q
asTa
qxx ∂
+−=∂ & l
ll y
cp ∂−=∂ γ&
F1
FN
G1
GL
Rf(s)
Rb’(s)
TCP Network AQM
x y
q p
γ controls equilibrium delay
Linearized model
iii
iii q
asasbx ∂
++
−=∂ µ
& ll
l yc
p ∂−=∂ γ&
F1
FN
G1
GL
Rf(s)
Rb’(s)
TCP Network AQM
x y
q p
γ controls equilibrium delaychoose ai = a, αi = µ
Stability
Theorem (Choe & Low, ‘02)
Locally asymptotically stable if
),( queueing tripround
time tripround µaσM <
exampleLHS < 10*10 = 100a = 0.1, µ = 0.015 σ (a,µ) = 120
Stability
Theorem (Choe & Low, ‘02)
Locally asymptotically stable if
),( queueing tripround
time tripround µaσM <
ApplicationStabilized TCP with current routersQueueing delay as congestion measure has the right scalingIncremental deployment with ECN
Vertical decomposition
Utility maximization
ll
li l
lliRiiixp
ll
iii
xR
cppRxxU
Llcy
xU
ii
i
∑∑ ∑
∑
+
−
∈∀≤
≥≥
≥
min)(max min
, subject to
)( maxmax
00
0
:Dual
:Primal
Shortest path routing!
Vertical decomposition
Utility maximization
ll
li l
lliRiiixp
ll
iii
xR
cppRxxU
Llcy
xU
ii
i
∑∑ ∑
∑
+
−
∈∀≤
≥≥
≥
min)(max min
, subject to
)( maxmax
00
0
:Dual
:Primal
Can shortest-path routing (IP) and TCP/AQM maximize utility?
Vertical decomposition
Theorem (Wang, Li, Low, Doyle ‘02)
Primal problem is NP-hard
Cannot be solved by shortest-path routing and TCP/AQMShortest path routing based on prices can be unstableEven when stable, there can be duality gapHow well does TCP/AQM/IP solve it approximately?
Papers
A duality model of TCP flow controls (ITC, Sept 2000)
Optimization flow control, I: basic algorithm & convergence (ToN, 7(6), Dec 1999)
Understanding Vegas: a duality model (J. ACM, 2002)
Scalable laws for stable network congestion control (CDC, 2001)
REM: active queue management (Network, May/June 2001)
netlab.caltech.edu