Daniel Simon is a scientist at INRIA Rhône-Alpes with the NeCS 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 QoS 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.

• Foreword xiiiDominique SAUTERIntroduction and Problem Statement 1Christophe AUBRUN, Daniel SIMON and Ye-Qiong SONGI.1 Networked control systems and control design challenges 2I.2 Control design: from continuous time to networked implementation 4I.3 Timing parameter assignment 6I.4 Control and task/message scheduling 8I.5 Diagnosis and fault tolerance in NCS 10I.6 Co-design approaches 11I.7 Outline of the book 12I.8 Bibliography 15Chapter 1 Preliminary Notions and State of the Art 19Christophe AUBRUN, Daniel SIMON and Ye-Qiong SONG1.1.Overview 191.2 Preliminary notions on real-time scheduling 201.3 Control aware computing 261.4 Feedback-scheduling basics 301.5 Fault diagnosis of NCS with network-induced effects 431.6 Summary 531.7.Bibliography 53Chapter 2 Computing-aware Control 63Mongi BEN GAID, David ROBERT, Olivier SENAME, Alexandre SEURET and Daniel SIMON2.1.Overview 632.2 Robust control w.r.t computing and networking-induced latencies 652.3 Weakly hard constraints 762.4 LPV adaptive variable sampling 892.5 Summary 982.6.Bibliography 99Chapter 3 QoC-aware Dynamic Network QoS Adaptation 105Christophe AUBRUN, Belynda BRAHIMI, Jean-Philippe GEORGES, Guy JUANOLE, Gerard MOUNEY, Xuan Hung NGUYEN and Eric RONDEAU3.1.Overview 1053.2 Dynamic CAN message priority allocation according to the control application needs 1073.3 Bandwidth allocation control for switched Ethernet networks 1323.4 Conclusion 1443.5.Bibliography 145Chapter 4 Plant-state-based Feedback Scheduling 149Mongi BEN GAID, David ROBERT, Olivier SENAME and Daniel SIMON4.1.Overview 1494.2 Adaptive scheduling and varying sampling robust control 1514.3 MPC-based integrated control and scheduling 1564.4 A convex optimization approach to feedback scheduling 1624.5 Control and real-time scheduling co-design via a LPV approach 1704.6 Summary 1774.7.Bibliography 181Chapter 5 Overload Management Through Selective Data Dropping 185Flavia FELICIONI, Ning JIA, Francoise SIMONOT-LION and Ye-Qiong SONG5.1 Introduction 1855.2 Scheduling under (m, k)-firm constraint 1885.3 Stability analysis of a multidimensional system 1935.4 Optimized control and scheduling co-design 1975.5 Plant-state-triggered control and scheduling adaptation and optimization 2095.6 Conclusions 2185.7.Bibliography 220Chapter 6 Fault Detection and Isolation, Fault Tolerant Control 223Christophe AUBRUN, Cedric BERBRA, Sylviane GENTIL, Suzanne LESECQ and Dominique SAUTER6.1 Introduction 2236.2 FDI and FTC 2246.3 Networked-induced effects 2386.4 Pragmatic solutions 2436.5 Advanced techniques 2486.6 Conclusion and perspectives 2626.7.Bibliography 262Chapter 7 Implementation: Control and Diagnosis for an Unmanned Aerial Vehicle 267Cedric BERBRA, Sylviane GENTIL, Suzanne LESECQ and Daniel SIMON7.1 Introduction 2677.2 The quadrotor model, control and diagnosis 2697.3 Simulation of the network 2827.4.Hardware in the loop architecture 2857.5 Experiments and results 2907.6 Summary 3027.7 Bibliography 303Glossary and Acronyms 305List of Authors 309Index 313

Select Guide Rating

Daniel Simon is a scientist at INRIA Rhône-Alpes with the NeCS 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 QoS 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.

• Foreword xiiiDominique SAUTERIntroduction and Problem Statement 1Christophe AUBRUN, Daniel SIMON and Ye-Qiong SONGI.1 Networked control systems and control design challenges 2I.2 Control design: from continuous time to networked implementation 4I.3 Timing parameter assignment 6I.4 Control and task/message scheduling 8I.5 Diagnosis and fault tolerance in NCS 10I.6 Co-design approaches 11I.7 Outline of the book 12I.8 Bibliography 15Chapter 1 Preliminary Notions and State of the Art 19Christophe AUBRUN, Daniel SIMON and Ye-Qiong SONG1.1.Overview 191.2 Preliminary notions on real-time scheduling 201.3 Control aware computing 261.4 Feedback-scheduling basics 301.5 Fault diagnosis of NCS with network-induced effects 431.6 Summary 531.7.Bibliography 53Chapter 2 Computing-aware Control 63Mongi BEN GAID, David ROBERT, Olivier SENAME, Alexandre SEURET and Daniel SIMON2.1.Overview 632.2 Robust control w.r.t computing and networking-induced latencies 652.3 Weakly hard constraints 762.4 LPV adaptive variable sampling 892.5 Summary 982.6.Bibliography 99Chapter 3 QoC-aware Dynamic Network QoS Adaptation 105Christophe AUBRUN, Belynda BRAHIMI, Jean-Philippe GEORGES, Guy JUANOLE, Gerard MOUNEY, Xuan Hung NGUYEN and Eric RONDEAU3.1.Overview 1053.2 Dynamic CAN message priority allocation according to the control application needs 1073.3 Bandwidth allocation control for switched Ethernet networks 1323.4 Conclusion 1443.5.Bibliography 145Chapter 4 Plant-state-based Feedback Scheduling 149Mongi BEN GAID, David ROBERT, Olivier SENAME and Daniel SIMON4.1.Overview 1494.2 Adaptive scheduling and varying sampling robust control 1514.3 MPC-based integrated control and scheduling 1564.4 A convex optimization approach to feedback scheduling 1624.5 Control and real-time scheduling co-design via a LPV approach 1704.6 Summary 1774.7.Bibliography 181Chapter 5 Overload Management Through Selective Data Dropping 185Flavia FELICIONI, Ning JIA, Francoise SIMONOT-LION and Ye-Qiong SONG5.1 Introduction 1855.2 Scheduling under (m, k)-firm constraint 1885.3 Stability analysis of a multidimensional system 1935.4 Optimized control and scheduling co-design 1975.5 Plant-state-triggered control and scheduling adaptation and optimization 2095.6 Conclusions 2185.7.Bibliography 220Chapter 6 Fault Detection and Isolation, Fault Tolerant Control 223Christophe AUBRUN, Cedric BERBRA, Sylviane GENTIL, Suzanne LESECQ and Dominique SAUTER6.1 Introduction 2236.2 FDI and FTC 2246.3 Networked-induced effects 2386.4 Pragmatic solutions 2436.5 Advanced techniques 2486.6 Conclusion and perspectives 2626.7.Bibliography 262Chapter 7 Implementation: Control and Diagnosis for an Unmanned Aerial Vehicle 267Cedric BERBRA, Sylviane GENTIL, Suzanne LESECQ and Daniel SIMON7.1 Introduction 2677.2 The quadrotor model, control and diagnosis 2697.3 Simulation of the network 2827.4.Hardware in the loop architecture 2857.5 Experiments and results 2907.6 Summary 3027.7 Bibliography 303Glossary and Acronyms 305List of Authors 309Index 313

Select Guide Rating

Daniel Simon is a scientist at INRIA Rhône-Alpes with the NeCS 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 QoS 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.

• Foreword xiiiDominique SAUTERIntroduction and Problem Statement 1Christophe AUBRUN, Daniel SIMON and Ye-Qiong SONGI.1 Networked control systems and control design challenges 2I.2 Control design: from continuous time to networked implementation 4I.3 Timing parameter assignment 6I.4 Control and task/message scheduling 8I.5 Diagnosis and fault tolerance in NCS 10I.6 Co-design approaches 11I.7 Outline of the book 12I.8 Bibliography 15Chapter 1 Preliminary Notions and State of the Art 19Christophe AUBRUN, Daniel SIMON and Ye-Qiong SONG1.1.Overview 191.2 Preliminary notions on real-time scheduling 201.3 Control aware computing 261.4 Feedback-scheduling basics 301.5 Fault diagnosis of NCS with network-induced effects 431.6 Summary 531.7.Bibliography 53Chapter 2 Computing-aware Control 63Mongi BEN GAID, David ROBERT, Olivier SENAME, Alexandre SEURET and Daniel SIMON2.1.Overview 632.2 Robust control w.r.t computing and networking-induced latencies 652.3 Weakly hard constraints 762.4 LPV adaptive variable sampling 892.5 Summary 982.6.Bibliography 99Chapter 3 QoC-aware Dynamic Network QoS Adaptation 105Christophe AUBRUN, Belynda BRAHIMI, Jean-Philippe GEORGES, Guy JUANOLE, Gerard MOUNEY, Xuan Hung NGUYEN and Eric RONDEAU3.1.Overview 1053.2 Dynamic CAN message priority allocation according to the control application needs 1073.3 Bandwidth allocation control for switched Ethernet networks 1323.4 Conclusion 1443.5.Bibliography 145Chapter 4 Plant-state-based Feedback Scheduling 149Mongi BEN GAID, David ROBERT, Olivier SENAME and Daniel SIMON4.1.Overview 1494.2 Adaptive scheduling and varying sampling robust control 1514.3 MPC-based integrated control and scheduling 1564.4 A convex optimization approach to feedback scheduling 1624.5 Control and real-time scheduling co-design via a LPV approach 1704.6 Summary 1774.7.Bibliography 181Chapter 5 Overload Management Through Selective Data Dropping 185Flavia FELICIONI, Ning JIA, Francoise SIMONOT-LION and Ye-Qiong SONG5.1 Introduction 1855.2 Scheduling under (m, k)-firm constraint 1885.3 Stability analysis of a multidimensional system 1935.4 Optimized control and scheduling co-design 1975.5 Plant-state-triggered control and scheduling adaptation and optimization 2095.6 Conclusions 2185.7.Bibliography 220Chapter 6 Fault Detection and Isolation, Fault Tolerant Control 223Christophe AUBRUN, Cedric BERBRA, Sylviane GENTIL, Suzanne LESECQ and Dominique SAUTER6.1 Introduction 2236.2 FDI and FTC 2246.3 Networked-induced effects 2386.4 Pragmatic solutions 2436.5 Advanced techniques 2486.6 Conclusion and perspectives 2626.7.Bibliography 262Chapter 7 Implementation: Control and Diagnosis for an Unmanned Aerial Vehicle 267Cedric BERBRA, Sylviane GENTIL, Suzanne LESECQ and Daniel SIMON7.1 Introduction 2677.2 The quadrotor model, control and diagnosis 2697.3 Simulation of the network 2827.4.Hardware in the loop architecture 2857.5 Experiments and results 2907.6 Summary 3027.7 Bibliography 303Glossary and Acronyms 305List of Authors 309Index 313

Select Guide Rating