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Control Software for Mechanical Systems: Object-Oriented Design in a Real-Time World by J. R. Ridgely, J. D. Ringgenberg, D. M. Auslander

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Chapter 12Distributed Control II: A Mechatronics Control Application Layer

The material in chapter 11 established a framework for network communication of information of the type needed for control of mechatronic systems. It did not, however, actually establish an application layer that could be integrated into control system software. This chapter does that by building on the UDP software and the simple application layer that was defined to demonstrate its application.

Development of the application layer is done in two stages. In the first, the application layer protocols are defined and a test program is constructed to implement the test protocols. In the second stage, the application layer is integrated with the existing control software. ...

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