Reference

References of Design of Real-Time Control Systems

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:

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)

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)

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. 2000бV2004, 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)

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.

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.

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 Deferred Server (DS) and Multiple Task Versions:

J.P. Lehoczky, L. Sha, and J.K. Strosnider, бзEnhanced aperiodic responsiveness in hard real-time environments,би 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, бзScheduling processes with release times, deadlines, precedence, and exclusion properties,би 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, бзImprecise computations,би Proc. IEEE, 82: 83-94, 1994

Multiprocessor Scheduling Algorithms:
Utilization Balancing Algorithm:

J.A. Bannister and K.S. Trivedi, бзTask allocation in fault-tolerant distributed systems,би Acta Informatica, 20: 261-281, 1983

Next-Fit Algorithm for RM Scheduling:

S. Davari and S.K. Dhall, бзAn on line algorithm for real-time tasks allocation,би 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, бзEfficient scheduling algorithms for real-time multiprocessor systems,би IEEE Trans. on Parallel and Distributed Systems, 1: 184-194, 1990

Focused Addressing & Bidding (FAB) Algorithm:

K.J. Ramamritham, A. Stankovic, and W. Zhao, бзDistributed scheduling of tasks with deadlines and resource requirements,би IEEE Trans. on Computers, 38: 1110-1123, 1989

Buddy Strategy:

K.G. Shin and Y.-C. Chang, бзLoad sharing in distributed real-time systems with state-change broadcasts,би IEEE Trans. Computers, 38: 1124-1142, 1989

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.

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 бV 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.

Devices for Networks:
G.Y. Tian, Z.X. Zhao, R.W. Baines, "A fieldbus-based intelligent sensor," Mechatronics, 10(8):835-849, Dec. 2000.

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.

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.

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 Intбжl Workshop on Advanced Motion Control, Vol. 2, pp. 541-546, 1996.

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

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.

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

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 бV 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 бV 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.

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.

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 бV 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 бV 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.