References on
Digital Control, Real-Time Control, and Their Applications
- Books:
-
Feedback Control of Dynamical Systems, 4th Ed., (Chap 8)
by Franklin, Powell, Emami-Naeini (2002)
-
Digital Control of Dynamical Systems, 3rd Ed.,
by Franklin, Powell, Workman (1998)
-
Computer-Controlled Systems: Theory & Design, 3rd. Ed.,
by Astrom & Wittenmark (1997)
-
Digital Control using Digital Signal Processing,
by Nekoogar & Moriarty (1999)
-
Real-Time Computer Control: An Introduction, 2nd Ed.,
by Bennett (1994)
-
Real-Time Systems,
by Krishna & Shin (1997)
-
Real-Time Systems,
by Liu (2000)
-
Limited Data Rate in Control Systems With Networks
(Lecture Notes in Control and Information Sciences, 275)
by Hideaki Ishii & Bruce A. Francis (Editors), (2002)
-
Embedded System Design: A Unified Hardware/Software Introduction
by Frank Vahid and
Tony D. Givargis, John Wiley & Sons, 2002
-
Computers as Components: Principles of Embedded Computing System Design,
by Wolf, 2001
-
Introduction to Mechatronics and Measurement Systems,
by D.G. Alciatore and M.B. Histand, 2003
- Paper:
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Real-Time Control Systems: General Discussion:
-
A. Gambier,
"Real-Time Control Systems: A Tutorial,"
in Proceedings of the 5th Asian Control Conference,
July 20-23, 2004,
Melbourne, Australia,
pp. 1024-1031.
(PDF)
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Digital Control:
-
B.D.O. Anderson,
"1992 Bode Prize Lecture: Controller Design: Moving from Theory for Practice,"
IEEE Control Systems Magazine, 13(4): 16-25, Aug. 1993.
(PDF)
-
D. Raviv, E.W. Djaja,
"Techniques for Enhancing the Performance of Discretized Controllers,"
IEEE Control Systems Magazine, 19(3): 52-57, June 1999.
(PDF)
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Timing Analysis:
-
B. Wittenmark, J. Nilsson, and M. Torngren,
"Timing problems in real-time control
systems,"
In Proceedings of American Control Conference,
Seattle, Washington, pp. 2000¡V2004, June 1995.
(PDF)
-
J. Nilsson, B. Bernhardsson, and B. Wittenmark,
"Stochastic analysis and control of real-time systems with random time delays,"
Automatica, 34(1): 57-64, Jan. 1998.
(PDF)
-
I.
Bate, P. Nightingale, and A. Cervin,
"Establishing timing requirements and control attributes for control loops in real-time
systems,"
Proc. 15th Euromicro Conf. on
Real-Time Systems,
pp. 121-128, July 2003.
(PDF)
-
P. Marti, J.M. Fuertes, G. Fohler, and K. Ramamritham,
"Jitter compensation for real-time control systems,"
Marti, P.; Fuertes, J.M.; Fohler, G.; Ramamritham, K.;
In Proc. 22nd IEEE
Real-Time Systems Symposium,
pp. 39-48, Dec. 2001.
(PDF)
-
P.L. Shaffer,
"A multiprocessor implementation of real-time control for a turbojet engine,"
IEEE Control Systems Magazine, 10(4): 38-42, June 1990.
(PDF)
-
M. Baldi and Y. Ofek,
"End-to-end delay analysis of videoconferencing over packet-switched networks,"
IEEE/ACM Transactions on Networking, 8(4): 479-492, Aug. 2000.
(PDF)
-
S.-S. Lim, J. Kim, and S.L. Min,
"A worst case timing analysis technique for optimized programs,"
In Proc. Fifth Int'l Conf.
Real-Time Computing Systems and Applications,
pp. 151-157, Oct. 1998.
(PDF)
-
S. Saad-Bouzefrane, and F. Cottet,
"A performance analysis of distributed hard-real time applications,"
Proc. IEEE Int'l Workshop on Factory Communication Systems,
pp. 167-176, Oct. 1997.
(PDF)
-
P. Pedro and A. Burns,
"Worst case response time analysis of hard real-time sporadic traffic in FIP networks,"
Proc. Ninth Euromicro Workshop on Real-Time Systems,
pp. 3-10, June 1997.
(PDF)
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RT Systems & OS:
-
Proceedings of The IEEE, Vol. 82, No. 1 Jan. 1994.
-
K.G. Shin, P. Ramanathan,
"Real-time computing: A new discipline of computer science and engineering,"
Proceedings of The IEEE, Vol. 82, No. 1, pp. 6-24, Jan. 1994.
-
K. Ramamritham, J.A. Stankovic,
"Scheduling algorithms and operating systems support for real-time systems,"
Proceedings of The IEEE, Vol. 82, No. 1, pp. 55-67, Jan. 1994.
-
J.A. Stankovic, M. Spuri, M.D. Natale, G. C. Buttazzo,
"Implications of classical scheduling results for real-time systems,"
IEEE Computer, Vol. 28, No. 6, pp. 16-25, June 1995.
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Performance Measures:
-
C.M. Krishna, K.G. Shin,
"Performance measures for control computers,"
IEEE Trans. Automatic Control,
Vol. 32, No. 6, pp. 467-473, June 1987.
-
K.G. Shin, C.M. Krishna, Y.-H. Lee,
"A unified method for evaluating real-time computer controllers and its applications,"
IEEE Trans. Automatic Control, Vol. 30, No. 4, pp. 357-366, April 1985.
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Uniprocessor Scheduling Algorithms:
Rate Monotonic (RM, static priority):
Earliest Deadline First (EDF, dynamic priority):
-
C.L. Liu, J.W. Layland,
"Scheduling algorithms for multiprogramming in a hard-real-time environment,"
Journal of ACM, Vol. 20, No. 1, pp. 46-61, Jan. 1973
Scheduling Algorithms:
Rate Monotonic Deferblue Server (DS) and
Multiple Task Versions:
-
J.P. Lehoczky, L. Sha, and J.K. Strosnider,
¡§Enhanced aperiodic responsiveness in hard real-time environments,¡¨
Proc. IEEE Real-Time Systems Symp., pp. 261-270, Los Alamitos, CA, 1987
Scheduling Algorithms:
Precedence and Exclusion Conditions:
-
J. Xu and D.L. Parnas,
¡§Scheduling processes with release times, deadlines, precedence, and exclusion properties,¡¨
IEEE Trans. Software Engineering, 16: 360-369, 1990
Scheduling Algorithms:
Increased Reward with Increased Service (IRIS):
-
J.W.S. Liu, K.J. Lin, W.-K. Shih, A.C. Yu, J.Y. Chung, and W. Zhao,
¡§Imprecise computations,¡¨
Proc. IEEE, 82: 83-94, 1994
Multiprocessor Scheduling Algorithms:
Utilization Balancing Algorithm:
-
J.A. Bannister and K.S. Trivedi,
¡§Task allocation in fault-tolerant distributed systems,¡¨
Acta Informatica, 20: 261-281, 1983
Next-Fit Algorithm for RM Scheduling:
-
S. Davari and S.K. Dhall,
¡§An on line algorithm for real-time tasks allocation,¡¨
Proc. IEEE Real-Time Systems Symp., pp. 194-200, Los Alamitos, CA, 1986
Bin-Packing Algorithm for EDF:
-
E.G. Coffman,
Computer and Job-Shop Scheduling Theory,
Wiley, New York, 1976
Myopic Offline Scheduling (MOS) Algorithm:
-
K.J. Ramamritham, A. Stankovic, and P.-F. Shiah,
¡§Efficient scheduling algorithms for real-time multiprocessor systems,¡¨
IEEE Trans. on Parallel and Distributed Systems, 1: 184-194, 1990
Focused Addressing & Bidding (FAB) Algorithm:
-
K.J. Ramamritham, A. Stankovic, and W. Zhao,
¡§Distributed scheduling of tasks with deadlines and resource requirements,¡¨
IEEE Trans. on Computers, 38: 1110-1123, 1989
Buddy Strategy:
-
K.G. Shin and Y.-C. Chang,
¡§Load sharing in distributed real-time systems with state-change broadcasts,¡¨
IEEE Trans. Computers, 38: 1124-1142, 1989
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Computer and RT Control:
-
K.G. Shin, X. Cui,
"Computing time delay and its effects on real-time control systems,"
IEEE Trans. Control Systems Technology, 3(2):218-224, June 1995.
-
H. Kim, K.G. Shin,
"On the maximum feedback delay in a linear/nonlinear control system
with input disturbances caused by controller-computer failures,"
IEEE Trans. Control Systems Technology, 2(2):110-121, June 1994.
-
P. Albertos, A. Crespo,
"Real-time control of non-uniformly sampled systems,"
Control Engineering Practice, 7(4):445-458, Apr. 1999.
-
A.P. Belle Isle,
"Stability of systems with nonlinear feedback through randomly time-varying delays,"
IEEE Trans. Automatic Control, 20(1):67-75, Feb. 1975.
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Networks for Control:
-
R.S. Raji,
"Smart networks for control,"
IEEE Spectrum, 31(6):49-55, June 1994.
BACnet, CAN, CEBus, IEEE-488, ISP, LowWorks, WorldFIP
-
P. Pleinevaux, J.-D. Decotignie,
"Time critical communication networks: field busses,"
IEEE Network, 2(3):55-63, May 1988.
PhoeBus, MIL-STD-1553, BitBus, Profibus, FIP, ISA SP50, IEC TC65
-
G. Schickhuber, O. McCarthy,
"Distributed fieldbus and control network systems,"
IEE Computing & Control Engineering Journal, 8(1):21-32, Feb. 1997.
LowWorks, CAN, Profibus, P-Net,ARCNET, EIB
-
N.P. Mahalik, P.R. Moore,
"Fieldbus technology based, distributed control in process industries:
a case study with LonWorks technology,"
Integrated Manufacturing Systems, 8(4):231-243, Apr. 1997.
LonWorks
-
Special Issues on Fieldbus & Distributed Control Systems,
Nov 1996, InTech Magazine, The Instruments, Systems & Automation Society
SP50, Foundation Fieldbus, Profibus, WorldFIP, Interbus-S, DeviceNet, SDS, ARCnet, AS-i, Seriplex, ControlNet,
-
T. Rahkonen,
"Distributed industrial control systems ¡V A critical review regarding openness,"
Control Engineering Practice, 3(8):1155-1162, Aug. 1995.
-
W. Dieterle, H.-D. Kochs, E. Dittmar,
"Communication architectures for distributed computer control systems,"
Control Engineering Practice, 3(8):1171-1176, Aug. 1995.
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Devices for Networks:
-
G.Y. Tian, Z.X. Zhao, R.W. Baines,
"A fieldbus-based intelligent sensor,"
Mechatronics, 10(8):835-849, Dec. 2000.
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Performance Evaluation of Control Networks:
-
A. Ray,
"Performance evaluation of medium access control protocols for distributed digital avionics,"
ASME Journal of Dynamic Systems, Measurement, and Control,
109(4):370-377, Dec. 1987.
SAE token bus, SAE token ring, MIL-STD-1553B
-
Y. Halevi, A. Ray,
"Performance analysis of integrated communication and control system networks,"
ASME Journal of Dynamic Systems, Measurement, and Control,
112(3):365-371, Sep. 1990.
-
G. Cena, L. Durante, A. Valenzano,
"Standard field bus networks for industrial applications,"
Computer Standards & Interfaces, 17(2):155-167, Jan. 1995.
Profibus, FIP, Sercos
-
G. Cena, C. Demartini, A. Valenzano,
"On the Performances of Two Popular Fieldbuses,"
Proceedings of IEEE International Workshop on Factory Communication Systems,
pp. 177-186, Oct. 1997.
CAN, Profibus-DP
-
S.H. Hong, K.A. Kim,
"Implementation and performance evaluation of Profibus in the automation systems,"
Proceedings of IEEE International Workshop on Factory Communication Systems,
pp. 187-192, Oct. 1997.
Profibus
-
S.H. Hong, S.G. Lee,
"Performance analysis of the data link layer in the IEC/ISA fieldbus by simulation model,"
Proceedings of IEEE Conference on Emerging Technologies and Factory Automation,
Vol. 2, pp. 593-601, Nov. 1996.
IEC/ISA
-
S.H. Hong,
"Performance evaluation of fieldbus networks in the distributed computer control
of power generation systems,"
Proceedings of the IEEE International Symposium on Industrial Electronics,
Vol.1, pp. 117-122, July 1997.
Profibus, IEC/ISA
-
Z. Wang, H. Lu, G.E. Hedrick, M. Stone,
"Message delay analysis for CAN based networks,"
Proceedings of the 1992 ACM/SIGAPP Symposium on Applied Computing,
pp. 89-94, Apr. 1992.
CAN
-
Z. Wang, H. Lu, M. Stone,
"A message priority assignment algorithm for CAN based networks,"
Proceedings of the 1992 ACM annual conference on Communications,
pp. 25-32, Mar. 1992.
CAN
-
K.G. Shin,
"Real-time communications in a computer-controlled workcell,"
IEEE Trans. Robotics and Automation, 7(1):105-113, Feb. 1991.
-
K.G. Shin, C.-C. Chou,
"Design and evaluation of real-time communication for FieldBus-based manufacturing systems,"
IEEE Trans. Robotics and Automation, 12(3):357-367, June 1996.
-
A.D. Stefano, L.L. Bello, C. Santoro,
"Synchronous producer-consumer transactions for real-time distributed process control,"
Proceedings of IEEE International Workshop on Factory Communication Systems,
pp. 27-36, Oct. 1997.
-
V.D. Kapsalis, S.A. Koubias, G.D. Papadopoulps,
"Implementation of a MAC-layer protocol (GIT-CSMA/CD) for industrial LAN's
and its experimental performance,"
IEEE Trans. Industrial Electronics, 44(6):825-839, Dec. 1997.
-
S.-K. Kweon, and K.G. Shin,
"Achieving real-time communication over Ethernet with adaptive traffic smoothing,"
Proceedings of IEEE Real-Time Technology and Applications Symposium, pp. 90-1000, June 2000
-
S.-K. Kweon, and K.G. Shin,
"Statistical Real-Time Communication over Ethernet,"
IEEE Trans. Parallel and Distributed Systems, 14(3):322-335, Mar. 2003.
-
S.-K. Kweon, M.-G. Cho, and K.G. Shin,
"Soft Real-Time Communication over Ethernet with Adaptive Traffic Smoothing,"
IEEE Trans. Parallel and Distributed Systems, 15(10):946-959, Oct. 2004.
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Control with Networks:
-
J.W. Overstreet, A. Tzes,
"An Internet-based real-time control engineering laboratory,"
IEEE Control Systems Magazine, 19(5):19-34, Oct. 1999.
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Timing Analysis in NCS:
-
K. Tindell, A. Burns, A.J. Wellings,
"Calculating controller area network (CAN) message response times,"
Control Engineering Practice, 3(8):1163-1169, Aug. 1995.
CAN
-
K.W. Tindell, H. Hansson, A.J. Wellings,
"Analysing real-time communications: controller area network (CAN),"
Proceedings of Real-Time Systems Symposium, pp. 259-263, Dec. 1994.
CAN
-
H.S. Park, C. Lee, W.H. Kwon,
"Analysis of the user's response time for Mini-MAP systems,"
Control Engineering Practice, 3(8):1177-1183, Aug. 1995.
mini-MAP
-
J.-D. Decotignie, D. Auslander, M. Moreauz,
"Fieldbus based integrated communication and control systems - Architectural implications,"
Proceedings of 1996 Int¡¦l Workshop on Advanced Motion Control,
Vol. 2, pp. 541-546, 1996.
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Communication Rate and Sampling Rate: Control the networks
-
S.H. Hong,
"Scheduling algorithm of data sampling times in the integrated communication and control systems,"
IEEE Trans. Control Systems Technology, 3(2):225-230, June 1995.
-
S.H. Hong,
"Bandwidth allocation scheme for cyclic-service fieldbus networks,"
IEEE/ASME-Mechatronics, 6(2):197-204, June 2001.
-
S.H. Hong and Y.C. Kim,
"Implementation of a bandwidth allocation scheme in a token-passing fieldbus network,"
IEEE Trans. Instrument and Measurement, 51(2):246-251, April 2002.
-
S. Cavalieri, A.D. Stefano, O. Mirabella,
"Impact of fieldbus on communication in robotic systems,"
IEEE Trans. Robotics and Automation, 13(1):30-48, Feb. 1997.
IEC/ISA
-
E. Tovar, F. Vasques, A. Burns,
"Supporting real-time distributed computer-controlled systems with multi-hop P-NET networks,"
Control Engineering Practice, 7(8):1015-1025, Aug. 1999.
P-NET
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Control the networks: TCP
-
S.H. Low, F. Paganini, J.C. Doyle,
"Internet Congestion Control,"
IEEE Control Systems Magazine, 22(1):28-43, Feb. 2002.
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Networked Control Systems:
-
Special Issue on Networks and Control,
IEEE Control Systems Magazine,
Vol. 21, No. 1, Feb. 2001.
-
Special Issue on Networked Control Systems,
IEEE Transactions on Automatic Control,
Vol. 49, No. 9, Sep. 2004.
-
Special Issues on Technology of Networked Control Systems,
Proceedings of the IEEE,
Vol. 95, No. 1, Jan. 2007.
-
Y. Tipsuwan and M.-Y. Chow,
"Control methodologies in networked control systems,"
Control Engineering Practice,
11(10):1099-1111, Oct. 2003.
-
T.C. Yang,
"Networked control systems: a brief survey,"
IEE Proc.-Control Theory Appl.,
Vol. 153, No. 4, July 2006
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Control over networks: Networked Control
-
A. Ray,
"Introduction to networking for integrated control systems,"
IEEE Control Systems Magazine, 9(1):76-79, Jan. 1989.
-
R. Luck, A. Ray,
"An observer-based compensator for distributed delays,"
Automatica, 26(5):903-908, May 1990.
-
Y. Halevi, A. Ray,
"Integrated communication and control systems:
Part I - Analysis,"
ASME Journal of Dynamic Systems, Measurement, & Control,
110(4):367-373, Dec. 1988.
-
A. Ray, Y. Halevi,
"Integrated communication and control systems:
Part II ¡V Design Consideration,"
ASME Journal of Dynamic Systems, Measurement, & Control,
110(4):374-381, Dec. 1988.
-
L.-W. Liou, Y. Halevi,
"Integrated communication and control systems:
Part III ¡V Nonidentical sensor and controller sampling,"
ASME Journal of Dynamic Systems, Measurement, & Control,
112(3):357-364, Sep. 1990.
-
L.-W. Liou, A. Ray,
"A stochastic regulator for integrated communication and control systems:
Part I - Formulation of control law,"
ASME Journal of Dynamic Systems, Measurement and Control,
113(4):604-611, Dec. 1991.
-
L.-W. Liou, A. Ray,
"A stochastic regulator for integrated communication and control systems:
Part II - Numerical analysis and simulation,"
ASME Journal of Dynamic Systems, Measurement and Control,
113(4):612-619, Dec. 1991.
-
R. Krtolica, U. Ozguner, H. Chan, H. Goktas, J. Winkelman, M. Liubakka,
"Stability of linear feedback systems with random communication delays,"
International Journal of Control,
59(4):925-953, Oct. 1994.
-
J. Nilsson, B. Bernhardsson, B. Wittenmark,
"Stochastic analysis and control of real-time systems with random time delays,"
Automatica, 34(1):57-64, Jan. 1998.
-
J. Nilsson, B. Bernhardsson,
"LQG Control over a Markov Communication Network,"
Proc. of the 36th Conference on Decision and Control,
pp. 4586-4591, Dec 1997.
-
H. Chan, U. Ozguner,
"Closed-loop control of systems over a communications network with queues,"
International Journal of Control, 62(3):493-510, Sep. 1995.
-
L.-W. Liou, A. Ray,
"On modeling of integrated communication and control systems,"
ASME Journal of Dynamic Systems, Measurement and Control,
112(4):790-794, Dec. 1990.
-
A. Ray, L.-W. Liou, J.H. Shen,
"State estimation using randomly delayed measurements,"
ASME Journal of Dynamic Systems, Measurement and Control,
115(1):19-26, Mar. 1993.
-
J.H. Shen, A. Ray,
"Extended discrete-time LTR synthesis of delayed control systems,"
Automatica, 29(2):431-438, Mar. 1993.
-
R. Luck, A. Ray, Y. Halevi,
"Observability under recurrent loss of data,"
Journal of Guidance Journal of Guidance, Control, and Dynamics,
15(1):284-287, Jan.-Feb. 1992.
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NCS: Perturbation Approach, CT
-
G.C. Walsh, O. Beldiman, and L.G. Bushnell,
"Aymptotically behavior of nonlinear networked control systems,"
IEEE Trans. Automatic Control, 46(7):1093-1097, July 1999.
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Control over networks: Controller design with limited information
-
R.W. Brockett,
"Stabilization of motor networks,"
Proc. of the 34th Conf. on Decision and Control,
pp. 1484-1488, New Orlean, LA, USA, Dec. 1995.
-
W.S. Wong, R.W. Brockett,
"Systems with finite communication bandwidth constraints
-
Part I: State estimation problems,"
IEEE Trans. Automatic Control, 42(9):1294-1299, Sep. 1997.
-
W.S. Wong, R.W. Brockett,
"Systems with finite communication bandwidth constraints
-
Part II: Stabilization with limited information feedback,"
IEEE Trans. Automatic Control, 44(5):1049-11053, May 1999.
-
D. Hristu, K. Morgansen,
"Limited communication control,"
Systems & Control Letters, 37(4):193-205, July 1999.
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