Daniel Simon & Ye-Qiong Song 
Co-design Approaches to Dependable Networked Control Systems [PDF ebook] 

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 Qo C-aware Dynamic Network Qo S 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

Daniel Simon is a scientist at INRIA Rhône-Alpes with the Ne CS 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 Qo S 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.