Probabilistic Modeling of Network-induced Delays in Networked Control Systems
Time varying network induced delays in networked
control systems (NCS) are known for degrading control system-s
quality of performance (QoP) and causing stability problems. In
literature, a control method employing modeling of communication
delays as probability distribution, proves to be a better method. This
paper focuses on modeling of network induced delays as probability
distribution.
CAN and MIL-STD-1553B are extensively used to carry periodic
control and monitoring data in networked control systems.
In literature, methods to estimate only the worst-case delays for
these networks are available. In this paper probabilistic network
delay model for CAN and MIL-STD-1553B networks are given.
A systematic method to estimate values to model parameters from
network parameters is given. A method to predict network delay in
next cycle based on the present network delay is presented. Effect of
active network redundancy and redundancy at node level on network
delay and system response-time is also analyzed.
[1] J. Yepez, P. Marti, and J. M. Fuertes, "Control loop performance analysis
over networked control systems," in Proceedings of IECON2002, 2002.
[2] T. Yang, "Networked control systems: a brief survey," IEE Proc.-Control
Theory Applications, vol. 153, pp. 403-412, July 2006.
[3] W. Zhang, M. S. Branicky, and S. M. Phillips, "Stability of networked
control systems," IEEE Control System Magazine, pp. 84-99, Feburary
2001.
[4] J.-P. Richard, "Time-delay systems: an overview of some recent advances
and open problems," Automatica, vol. 39, pp. 1667-1694, 2003.
[5] H. Yang and B. Sikdar, "Control loop performance analysis over
networked control systems," in Proceedings of ICC 2007, pp. 241-246,
2007.
[6] B. Lu, "Probabilistic design of networked control systems with uncertain
time delay," in ASME International Mechanical Engineering Congress
and Exposition, Proceedings, 9 Part A, pp. 355-362, 2008.
[7] D. Huang and S. Nguang, "State feedback control of uncertain networked
control systems with random time-delays," in ASME International
Mechanical Engineering Congress and Exposition, Proceedings,
9 Part A, pp. 3-362, 2008.
[8] J. Nilsson, B. Bernhardsson, and B. Wittenmark, "Stochastic analysis
and control of real-time systems with random time delays," Automatica,
vol. 34, pp. 57-64, 1998.
[9] L. Zhang, Y. Shi, T. Chen, and B. Huang, "A new method for stabilization
of networked control systems with random delays," IEEE
Transaction on Automatic Control, vol. 50, no. 8, pp. 1177-1181, 2005.
[10] G. C. Walsh, H. Ye, and L. Bushnell, "Stability analysis of networked
control systems," IEEE Transaction on Control System Technology,
vol. 10, pp. 438-446, 2002.
[11] J. Nilsson, Real-Time Control Systems with Delays. PhD thesis, Lund
Institute of Technology, Sweden, 1998.
[12] F.-L. Lian, Analysis, Design, Modeling, and Control of Networked
Control Systems. PhD thesis, University of Michigan, 2001.
[13] F.-L. Lian, J. Moyne, and D. Tilbury, "Performance evaluation of control
networks: Ethernet, controlnet, and devicenet," IEEE Control System
Magazine, vol. 21, pp. 66-83, 2001.
[14] Y. Tipsuwan and M.-Y. Chow, "Control methodologies in networked
control systems," Control Engineering Practice, vol. 11, no. 10,
pp. 1099-1111, 2003.
[15] K. W. Tindell, H. Hansson, and A. J. Wellings, "Analyzing real-time
communications: Controller area network (CAN)," in Proceeding of
Real-time Symposium, pp. 259-263, Dec. 1994.
[16] K. Tindell, A. Burns, and A. Wellings, "Calculating controller area
network (can) message response times," Control Engineering Practice,
vol. 3, no. 2, pp. 1163-1169, 1995.
[17] M. Farsi, K. Ratcliff, and M. Barbosa, "An overview of controller area
network," Computing & Control Engineering Journal, pp. 113-120, June
1999.
[18] "CAN specification 2.0. part A and B, can in automation (cia)."
[19] T. Nolte, H. Hansson, and C. Norstrom, "Minimizing can response-time
jitter by message manipulation," in Proceedings of the 8th Real-time and
Embedded Technology and Application Symposium (RTAS-02), 2002.
[20] "MIL-STD-1553B: Aircraft internal time division command/response
multiplex data bus," 30 April 1975.
[21] "MIL-STD-1553 tutorial."
[22] M. Kumar, A. K. Verma, and A. Srividya, "Response-time modeling
of controller area network (can)," in Communicated to Int. Conf. on
Distributed Computing and Networking (ICDCN09).
[23] J. K. Muppala, V. Mainkar, K. S. Trivedi, and V. G. Kulkarni, "Numerical
computation of response-time distributions using stochastic reward
nets," Annals of Operations Research, vol. 48, pp. 155-184, 1994.
[24] K. S. Trivedi, Probability & Statistics with Reliability, Queueing,
and Computer Science Applications. Englewood Cliffs, New Jersey:
Prentice-Hall, 1982.
[25] T. Nolte, H. Hansson, and C. Norstrom, "Probabilistic worst-case
response-time analysis for the controller area network," in Proceedings
of the 9th Real-time and Embedded Technology and Application Symposium
(RTAS-03), 2003.
[1] J. Yepez, P. Marti, and J. M. Fuertes, "Control loop performance analysis
over networked control systems," in Proceedings of IECON2002, 2002.
[2] T. Yang, "Networked control systems: a brief survey," IEE Proc.-Control
Theory Applications, vol. 153, pp. 403-412, July 2006.
[3] W. Zhang, M. S. Branicky, and S. M. Phillips, "Stability of networked
control systems," IEEE Control System Magazine, pp. 84-99, Feburary
2001.
[4] J.-P. Richard, "Time-delay systems: an overview of some recent advances
and open problems," Automatica, vol. 39, pp. 1667-1694, 2003.
[5] H. Yang and B. Sikdar, "Control loop performance analysis over
networked control systems," in Proceedings of ICC 2007, pp. 241-246,
2007.
[6] B. Lu, "Probabilistic design of networked control systems with uncertain
time delay," in ASME International Mechanical Engineering Congress
and Exposition, Proceedings, 9 Part A, pp. 355-362, 2008.
[7] D. Huang and S. Nguang, "State feedback control of uncertain networked
control systems with random time-delays," in ASME International
Mechanical Engineering Congress and Exposition, Proceedings,
9 Part A, pp. 3-362, 2008.
[8] J. Nilsson, B. Bernhardsson, and B. Wittenmark, "Stochastic analysis
and control of real-time systems with random time delays," Automatica,
vol. 34, pp. 57-64, 1998.
[9] L. Zhang, Y. Shi, T. Chen, and B. Huang, "A new method for stabilization
of networked control systems with random delays," IEEE
Transaction on Automatic Control, vol. 50, no. 8, pp. 1177-1181, 2005.
[10] G. C. Walsh, H. Ye, and L. Bushnell, "Stability analysis of networked
control systems," IEEE Transaction on Control System Technology,
vol. 10, pp. 438-446, 2002.
[11] J. Nilsson, Real-Time Control Systems with Delays. PhD thesis, Lund
Institute of Technology, Sweden, 1998.
[12] F.-L. Lian, Analysis, Design, Modeling, and Control of Networked
Control Systems. PhD thesis, University of Michigan, 2001.
[13] F.-L. Lian, J. Moyne, and D. Tilbury, "Performance evaluation of control
networks: Ethernet, controlnet, and devicenet," IEEE Control System
Magazine, vol. 21, pp. 66-83, 2001.
[14] Y. Tipsuwan and M.-Y. Chow, "Control methodologies in networked
control systems," Control Engineering Practice, vol. 11, no. 10,
pp. 1099-1111, 2003.
[15] K. W. Tindell, H. Hansson, and A. J. Wellings, "Analyzing real-time
communications: Controller area network (CAN)," in Proceeding of
Real-time Symposium, pp. 259-263, Dec. 1994.
[16] K. Tindell, A. Burns, and A. Wellings, "Calculating controller area
network (can) message response times," Control Engineering Practice,
vol. 3, no. 2, pp. 1163-1169, 1995.
[17] M. Farsi, K. Ratcliff, and M. Barbosa, "An overview of controller area
network," Computing & Control Engineering Journal, pp. 113-120, June
1999.
[18] "CAN specification 2.0. part A and B, can in automation (cia)."
[19] T. Nolte, H. Hansson, and C. Norstrom, "Minimizing can response-time
jitter by message manipulation," in Proceedings of the 8th Real-time and
Embedded Technology and Application Symposium (RTAS-02), 2002.
[20] "MIL-STD-1553B: Aircraft internal time division command/response
multiplex data bus," 30 April 1975.
[21] "MIL-STD-1553 tutorial."
[22] M. Kumar, A. K. Verma, and A. Srividya, "Response-time modeling
of controller area network (can)," in Communicated to Int. Conf. on
Distributed Computing and Networking (ICDCN09).
[23] J. K. Muppala, V. Mainkar, K. S. Trivedi, and V. G. Kulkarni, "Numerical
computation of response-time distributions using stochastic reward
nets," Annals of Operations Research, vol. 48, pp. 155-184, 1994.
[24] K. S. Trivedi, Probability & Statistics with Reliability, Queueing,
and Computer Science Applications. Englewood Cliffs, New Jersey:
Prentice-Hall, 1982.
[25] T. Nolte, H. Hansson, and C. Norstrom, "Probabilistic worst-case
response-time analysis for the controller area network," in Proceedings
of the 9th Real-time and Embedded Technology and Application Symposium
(RTAS-03), 2003.
@article{"International Journal of Information, Control and Computer Sciences:52669", author = "Manoj Kumar and A.K. Verma and A. Srividya", title = "Probabilistic Modeling of Network-induced Delays in Networked Control Systems", abstract = "Time varying network induced delays in networked
control systems (NCS) are known for degrading control system-s
quality of performance (QoP) and causing stability problems. In
literature, a control method employing modeling of communication
delays as probability distribution, proves to be a better method. This
paper focuses on modeling of network induced delays as probability
distribution.
CAN and MIL-STD-1553B are extensively used to carry periodic
control and monitoring data in networked control systems.
In literature, methods to estimate only the worst-case delays for
these networks are available. In this paper probabilistic network
delay model for CAN and MIL-STD-1553B networks are given.
A systematic method to estimate values to model parameters from
network parameters is given. A method to predict network delay in
next cycle based on the present network delay is presented. Effect of
active network redundancy and redundancy at node level on network
delay and system response-time is also analyzed.", keywords = "NCS (networked control system), delay analysis, response-time distribution, worst-case delay, CAN, MIL-STD-1553B, redundancy", volume = "3", number = "9", pages = "2177-12", }
