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Informationen zum Autor Daniel Simon is a scientist at INRIA Rhône-Alpes with the NeCS project team. His areas of research include real-time software design for robot control. He has provided effective solutions to implement real-time controllers on embedded targets to deal with control and real-time scheduling co-design. Ye-Qiong Song is Professor at Nancy University in France and with LORIA lab. His research interests include modeling and performance evaluation of networks and real-time distributed systems, as well as the development of real-time QoS mechanisms taking into account the control performance requirements in networked control systems. Christophe Aubrun is Professor at Nancy University in France. His research areas are in the field of fault diagnosis and fault tolerant control for networked control systems. Klappentext This book describes co-design approaches, and establishes the links between the QoC (Quality of Control) and QoS (Quality of Service) of the network and computing resources. The methods and tools described in this book take into account, at design level, various parameters and properties that must be satisfied by systems controlled through a network. Among the important network properties examined are the QoC, the dependability of the system, and the feasibility of the real-time scheduling of tasks and messages. Correct exploitation of these approaches allows for efficient design, diagnosis, and implementation of the NCS. This book will be of great interest to researchers and advanced students in automatic control, real-time computing, and networking domains, and to engineers tasked with development of NCS, as well as those working in related network design and engineering fields. Zusammenfassung This book describes co-design approaches, and establishes the links between the QoC (Quality of Control) and QoS (Quality of Service) of the network and computing resources. Inhaltsverzeichnis Foreword xiii Dominique SAUTER Introduction and Problem Statement 1 Christophe AUBRUN, Daniel SIMON and Ye-Qiong SONG I.1 Networked control systems and control design challenges 2 I.2 Control design: from continuous time to networked implementation 4 I.3 Timing parameter assignment 6 I.4 Control and task/message scheduling 8 I.5 Diagnosis and fault tolerance in NCS 10 I.6 Co-design approaches 11 I.7 Outline of the book 12 I.8 Bibliography 15 Chapter 1 Preliminary Notions and State of the Art 19 Christophe AUBRUN, Daniel SIMON and Ye-Qiong SONG 1.1.Overview 19 1.2 Preliminary notions on real-time scheduling 20 1.3 Control aware computing 26 1.4 Feedback-scheduling basics 30 1.5 Fault diagnosis of NCS with network-induced effects 43 1.6 Summary 53 1.7.Bibliography 53 Chapter 2 Computing-aware Control 63 Mongi BEN GAID, David ROBERT, Olivier SENAME, Alexandre SEURET and Daniel SIMON 2.1.Overview 63 2.2 Robust control w.r.t computing and networking-induced latencies 65 2.3 Weakly hard constraints 76 2.4 LPV adaptive variable sampling 89 2.5 Summary 98 2.6.Bibliography 99 Chapter 3 QoC-aware Dynamic Network QoS Adaptation 105 Christophe AUBRUN, Belynda BRAHIMI, Jean-Philippe GEORGES, Guy JUANOLE, Gerard MOUNEY, Xuan Hung NGUYEN and Eric RONDEAU 3.1.Overview 105 3.2 Dynamic CAN message priority allocation according to the control application needs 107 3.3 Bandwidth allocation control for switched Ethernet networks 132 3.4 Conclusion 144 3.5.Bibliography 145 Chapter 4 Plant-state-based Feedback Scheduling 149 Mongi BEN GAID, David ROBERT, Olivier SENAME and Daniel SIMON 4.1.Overview 149 4.2 Adaptive scheduling and v...
