Book description
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.
Table of contents
- Cover
- Title Page
- Copyright
- Foreword
-
Introduction and Problem Statement
- I.1. Networked control systems and control design challenges
- I.2. Control design: from continuous time to networked implementation
- I.3. Timing parameter assignment
- I.4. Control and task/message scheduling
- I.5. Diagnosis and fault tolerance in NCS
- I.6. Co-design approaches
- I.7. Outline of the book
- I.8. Bibliography
-
Chapter 1: Preliminary Notions and State of the Art
- 1.1. Overview
- 1.2. Preliminary notions on real-time scheduling
- 1.3. Control aware computing
- 1.4. Feedback-scheduling basics
- 1.5. Fault diagnosis of NCS with network-induced effects
- 1.6. Summary
- 1.7. Bibliography
-
Chapter 2: Computing-aware Control
- 2.1. Overview
- 2.2. Robust control w.r.t. computing and networking-induced latencies
-
2.3. Weakly hard constraints
- 2.3.1. Problem definition
- 2.3.2. Notion of accelerable control
- 2.3.3. Design of accelerable controllers
- 2.3.4. Accelerable LQR design for LTI systems
- 2.3.5. Kalman filtering and accelerability
- 2.3.6. Robustifying feedback scheduling using weakly hard scheduling concepts
- 2.3.7. Application to the attitude control of a quadrotor
- 2.4. LPV adaptive variable sampling
- 2.5. Summary
- 2.6. Bibliography
-
Chapter 3: QoC-aware Dynamic Network QoS Adaptation
- 3.1. Overview
-
3.2. Dynamic CAN message priority allocation according to the control application needs
-
3.2.1. Context of the study
- 3.2.1.1. The considered process control application
- 3.2.1.2. Control performance evaluation
- 3.2.1.3. The implementation through a network
- 3.2.1.4. Evaluation of the influence of the network on the behavior of the process control application
- 3.2.1.5. Idea of hybrid priority schemes: general considerations
- 3.2.2. Three hybrid priority schemes
- 3.2.3. Study of the three schemes based on hybrid priorities
- 3.2.4. QoC visualization
- 3.2.5. Comment
-
3.2.1. Context of the study
- 3.3. Bandwidth allocation control for switched Ethernet networks
- 3.4. Conclusion
- 3.5. Bibliography
-
Chapter 4: Plant-state-based Feedback Scheduling
- 4.1. Overview
- 4.2. Adaptive scheduling and varying sampling robust control
- 4.3. MPC-based integrated control and scheduling
- 4.4. A convex optimization approach to feedback scheduling
- 4.5. Control and real-time scheduling co-design via a LPV approach
- 4.6. Summary
- 4.7. Bibliography
-
Chapter 5: Overload Management Through Selective Data Dropping
- 5.1. Introduction
-
5.2. Scheduling under (m, k)-firm constraint
- 5.2.1. Dynamic scheduling policy under (m,k)-firm constraints
- 5.2.2. Static scheduling policy under (m,k)-firm constraints and schedulability issue
- 5.2.3. Static scheduling under (m, k)-constraints and mechanical words
- 5.2.4. Sufficient condition for schedulability assessment under (m,k)-pattern defined by a mechanical word
- 5.2.5. Systematic dropping policy in control applications
- 5.3. Stability analysis of a multidimensional system
- 5.4. Optimized control and scheduling co-design
- 5.5. Plant-state-triggered control and scheduling adaptation and optimization
- 5.6. Conclusions
- 5.7. Bibliography
-
Chapter 6: Fault Detection and Isolation, Fault Tolerant Control
- 6.1. Introduction
- 6.2. FDI and FTC
- 6.3. Networked-induced effects
- 6.4. Pragmatic solutions
- 6.5. Advanced techniques
- 6.6. Conclusion and perspectives
- 6.7. Bibliography
-
Chapter 7: Implementation: Control and Diagnosis for an Unmanned Aerial Vehicle
- 7.1. Introduction
- 7.2. The quadrotor model, control and diagnosis
- 7.3. Simulation of the network
- 7.4. Hardware in the loop architecture
- 7.5. Experiments and results
- 7.6. Summary
- 7.7. Bibliography
- Glossary and Acronyms
- List of Authors
- Index
Product information
- Title: Co-design Approaches to Dependable Networked Control Systems
- Author(s):
- Release date: February 2010
- Publisher(s): Wiley
- ISBN: 9781848211766
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