Co-design Approaches to Dependable Networked Control Systems

Networked Control Systems (NCS) is a growing field of application and calls for the development of integrated approaches requiring multidisciplinary skills in control, real-time computing and communication protocols. 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:
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 varying sampling robust control 151 4.3 MPC-based integrated control and scheduling 156 4.4 A convex optimization approach to feedback scheduling 162 4.5 Control and real-time scheduling co-design via a LPV approach 170 4.6 Summary 177 4.7.Bibliography 181 Chapter 5 Overload Management Through Selective Data Dropping 185 Flavia FELICIONI, Ning JIA, Francoise SIMONOT-LION and Ye-Qiong SONG 5.1 Introduction 185 5.2 Scheduling under (m, k)-firm constraint 188 5.3 Stability analysis of a multidimensional system 193 5.4 Optimized control and scheduling co-design 197 5.5 Plant-state-triggered control and scheduling adaptation and optimization 209 5.6 Conclusions 218 5.7.Bibliography 220 Chapter 6 Fault Detection and Isolation, Fault Tolerant Control 223 Christophe AUBRUN, Cedric BERBRA, Sylviane GENTIL, Suzanne LESECQ and Dominique SAUTER 6.1 Introduction 223 6.2 FDI and FTC 224 6.3 Networked-induced effects 238 6.4 Pragmatic solutions 243 6.5 Advanced techniques 248 6.6 Conclusion and perspectives 262 6.7.Bibliography 262 Chapter 7 Implementation: Control and Diagnosis for an Unmanned Aerial Vehicle 267 Cedric BERBRA, Sylviane GENTIL, Suzanne LESECQ and Daniel SIMON 7.1 Introduction 267 7.2 The quadrotor model, control and diagnosis 269 7.3 Simulation of the network 282 7.4.Hardware in the loop architecture 285 7.5 Experiments and results 290 7.6 Summary 302 7.7 Bibliography 303 Glossary and Acronyms 305 List of Authors 309 Index 313