Download PDF by Christophe Aubrun, Daniel Simon, Ye-Qiong Song: Co-design Approaches to Dependable Networked Control Systems

By Christophe Aubrun, Daniel Simon, Ye-Qiong Song

This ebook describes co-design methods, and establishes the hyperlinks among the QoC (Quality of keep an eye on) and QoS (Quality of carrier) of the community and computing assets. The tools and instruments defined during this e-book keep in mind, at layout point, numerous parameters and homes that needs to be happy via structures managed via a community. one of the very important community houses tested are the QoC, the dependability of the approach, and the feasibility of the real-time scheduling of projects and messages. right exploitation of those techniques enables effective layout, analysis, and implementation of the NCS. This ebook may be of serious curiosity to researchers and complicated scholars in automated regulate, real-time computing, and networking domain names, and to engineers tasked with improvement of NCS, in addition to these operating in similar community layout and engineering fields.

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Simulations under TrueTime, from [CER 03a] control quality decreases for lower priority process). 8(c)) allows for future tasks cost anticipation and for enhanced transient behavior. Note that here the optimality of the process control performance relies on openloops pre-computed cost functions and that robustness issues are not taken into account. 4. 3. Feasibility: feedback-scheduler implementation for robot control We consider here a seven degrees of freedom Mitsubishi PA10 robot arm that has been previously modeled and calibrated [SIM 05b].

Real-time scheduling has mainly focused on how to dimension resources to meet deadlines, or equivalently, on the schedulability analysis for a given resource. Indeed, the real-time community has usually considered that control tasks have fixed periods, hard deadlines, and worst-case execution times. info Preliminary Notions 27 separation of control and scheduling designs, but has led to under-utilization of CPU resources and inflexible design. The hard and costly way consists in building a highly deterministic system, from the hardware, operating system and communication protocols sides, so that the actual implementation parameters meet the ideal ones.

Feedback-scheduling basics Besides traditional assignment of fixed scheduling parameters, more flexible scheduling policies have been investigated. The main idea is that fast sampling and computing are costly, so running the controllers only when useful or necessary is expected to save computing power, network bandwidth and energy. Networked control systems can be made of autonomous and/or mobile devices connected by wireless communications. As these devices may have a limited on-board energy storage, optimizing the cost of computations and communications induced by the control activities is again gaining interest.

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