Contents
Introduction and Problem Statement
I.1. Networked control systems and control design challenges
I.2. Control design: from continuous time to networked implementation
I.3. Timing parameter assignment
I.4. Control and task/message scheduling
I.5. Diagnosis and fault tolerance in NCS
Chapter 1. Preliminary Notions and State of the Art
1.2. Preliminary notions on real-time scheduling
1.4. Feedback-scheduling basics
1.5. Fault diagnosis of NCS with network-induced effects
Chapter 2. Computing-aware Control
2.2. Robust control w.r.t. computing and networking-induced latencies
2.4. LPV adaptive variable sampling
Chapter 3. QoC-aware Dynamic Network QoS Adaptation
3.2. Dynamic CAN message priority allocation according to the control application needs
3.3. Bandwidth allocation control for switched Ethernet networks
Chapter 4. Plant-state-based Feedback Scheduling
4.2. Adaptive scheduling and varying sampling robust control
4.3. MPC-based integrated control and scheduling
4.4. A convex optimization approach to feedback scheduling
4.5. Control and real-time scheduling co-design via a LPV approach
Chapter 5. Overload Management Through Selective Data Dropping
5.2. Scheduling under (m, k)-firm constraint
5.3. Stability analysis of a multidimensional system
5.4. Optimized control and scheduling co-design
5.5. Plant-state-triggered control and scheduling adaptation and optimization
Chapter 6. Fault Detection and Isolation, Fault Tolerant Control
6.3. Networked-induced effects
6.6. Conclusion and perspectives
Chapter 7. Implementation: Control and Diagnosis for an Unmanned Aerial Vehicle
7.2. The quadrotor model, control and diagnosis
7.3. Simulation of the network