Real-Time Control Systems with Delays
Johan L. Å. Nilsson · 1998
Contents Acknowledgments .......................... 7 1. Introduction ............................ 8 Outline of the Thesis and Publications .............. 9 2. Problem Formulation ....................... 13 2.1 Distributed Control ..................... 13 2.2 Networks ........................... 18 2.3 Clock Synchronization .................... 20 2.4 RelatedWork......................... 23 3. Modeling of Network Delays .................. 29 3.1 Network Modeled as Constant Delay ........... 29 3.2 Network Modeled as Delays Being Independent ..... 30 3.3 Network Modeled Using Markov Chain .......... 31 3.4 SamplingofSystemswithNetworkDelays........ 31 4. Experimental Delay Measurements .............. 35 4.1 CAN .............................. 35 4.2 EthernetNetwork ...................... 50 4.3 Summary ........................... 54 5. Analysis and Control with Independent Delays ...... 56 5.1 Cl