Handbook of Networked and Embedded Control Systems (eBook)

Dimitrios Hristu-Varsakelis, William S. Levine (Herausgeber)

eBook Download: PDF

2007 | 2005
X, 822 Seiten
Birkhäuser Boston (Verlag)
978-0-8176-4404-8 (ISBN)

Infos

The vast majority of control systems built today are embedded; that is, they rely on built-in, special-purpose digital computers to close their feedback loops. Embedded systems are common in aircraft, factories, chemical processing plants, and even in cars-a single high-end automobile may contain over eighty different computers. The design of embedded controllers and of the intricate, automated communication networks that support them raises many new questions-practical, as well as theoretical-about network protocols, compatibility of operating systems, and ways to maximize the effectiveness of the embedded hardware.

This handbook, the first of its kind, provides engineers, computer scientists, mathematicians, and students a broad, comprehensive source of information and technology to address many questions and aspects of embedded and networked control. Separated into six main sections-Fundamentals, Hardware, Software, Theory, Networking, and Applications-this work unifies into a single reference many scattered articles, websites, and specification sheets. Also included are case studies, experiments, and examples that give a multifaceted view of the subject, encompassing computation and communication considerations.

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Thishandbookwasmotivatedinpartbyourexperience(andthatofothers)in performing research and in teaching about networked and embedded control systems (NECS) as well as in implementing such systems. Although NECS- along with the technologies that enable them-have become ubiquitous, there are few, if any, sources where a student, researcher, or developer can gain a su?ciently broad view of the subject. Oftentimes, the needed information is scattered in articles, websites, and speci?cation sheets. Such di?culties are perhaps to be expected, given the relative newness of the subject and the diversity of its constitutive disciplines. From control theory and communi- tions, to computer science and electronics, the variety of approaches, tools, and language used by experts in each ?eld often acts as a barrier to und- standing how ideas ?t within the broader context of networked and embedded control. With the above in mind, we have gathered a collection of articles that provide at least an introduction to the important results, tools, software, and technologies that shape the area of NECS. Our goal was to present the most important knowledge about NECS in a book that would be useful to anyone who wants to learn about any aspect of the subject. We hope that we have succeeded and that every reader will ?nd valuable information in the book. Wethanktheauthorsofeachofthechapters. Theyareallbusypeopleand we are extremely grateful to them for their outstanding work.

Inhalt

Contents 6
Preface 9
Part I Fundamentals 10
Fundamentals of Dynamical Systems 11
1 Introduction 11
2 Continuous-Time Systems 12
3 Discrete-Time Systems 16
4 Properties of Systems 17
5 Interconnecting Systems 23
6 Conclusion 27
References 27
Control of Single-Input Single-Output Systems 29
1 Introduction 29
2 Description of Sampled-Data Systems 31
3 Control Speci.cations 32
4 Analysis and Design Tools 35
5 Classical Design of Control Systems 37
6 Limitations on Control Systems 47
7 Beyond This Introduction 51
References 51
Basics of Sampling and Quantization 52
1 Introduction 52
2 Sample-Rate Selection 56
3 Quantization Effects 58
References 75
Discrete-Event Systems 77
1 Introduction 77
2 Event-Driven and Time-Driven Systems 78
3 Timed and Untimed Viewpoints of Discrete Event Systems 81
4 Modeling Overview 83
5 Control and Optimization of Discrete Event Systems 93
References 94
Introduction to Hybrid Systems 96
1 Hybrid Systems All Around Us 96
2 From Continuous Toward Hybrid 101
3 From Discrete to Hybrid 106
4 Hybrid Dynamical Systems and Hybrid Automata 113
5 Going Further 119
References 119
Finite Automata 122
1 Introduction 122
2 Finite Acceptors 123
3 Finite Transducers 136
4 Final Remarks 145
Acknowledgments 147
References 147
Basics of Computer Architecture 149
1 Introduction 149
2 Functional Units 150
3 Example Architecture 158
References 175
Real-Time Scheduling for Embedded Systems 176
1 Introduction 176
2 Fixed-Priority Scheduling 177
3 Dynamic-Priority Scheduling 186
4 Challenges Ahead 194
References 195
Network Fundamentals 199
1 Networking for Control Systems 199
2 What Is a Network? 202
3 Control Network Con.gurations 207
4 Network Media 213
5 Network Protocols 215
6 Network Reliability and Security 219
7 A Survey of Network Solutions 222
8 Conclusions 223
References 224
Part II Hardware 226
Basics of Data Acquisition and Control 227
1 Introduction 227
2 Signals 228
3 Interfacing Input Signals 230
4 DA& C Add-on Card
5 Configuring Options and Settings 241
6 Output Signal Conditioning 242
7 Cabling 246
8 Process Control Example for DA& C
9 VXI Standard 249
10 Software 250
11 Graphical Programming 253
12 Industrial Signal Conditioners 253
13 General-Purpose Interface Bus (GPIB) 254
14 Microcontrollers 255
15 Summary 256
References 256
Programmable Logic Controllers 258
1 The Development of PLCs 259
2 The Finite State Concept 262
3 Describing States and Transitions Using Sequential Function Charts 263
4 Computer Implementation of SFCs 267
5 Combinatorial Circuits 268
6 Basic Structure of PLCs 271
7 PLC Programming with Ladder Diagram and Instruction List 272
8 Sequencing Circuits Describing Ladder Diagrams 273
9 PLC Programming 274
10 Summary 277
References 277
Digital Signal Processors 278
1 DSP Applications 278
2 DSP Architectures 279
3 DSP Architecture Design 286
4 DSP Programming 288
References 292
Microcontrollers 293
1 Introduction 293
2 What Is a Microcontroller? 293
3 Microcontrollers Versus a PC — Why not Use a PC? 294
4 The Generic Microcontroller 295
5 Microcontroller Selection 310
6 System Development 311
7 Example System: Automated Home Control System 313
References 320
SOPCs: Systems on Programmable Chips 321
1 Introduction 321
2 Chips for SOPC Design 322
3 Tools for SOPC Design 330
4 Design Framework Example: Xilinx’s Integrated Synthesis Environment (ISE) 331
5 SOPC Test and Sample Design 334
6 After Action Report: Using the Xilinx Webpack for SOPC Design 344
7 How To Learn More 346
Part III Software 349
Fundamentals of RTOS-Based Digital Controller Implementation 350
1 Introduction 350
2 Tasks, Scheduling Algorithms, and Schedulability Analysis 353
3 Task Synchronization 360
4 RTOS Extensions for Control Engineering 364
5 Survey of Control-Oriented RTOS 368
6 Concluding Remarks 370
References 371
Implementation-Aware Embedded Control Systems 373
1 Introduction 373
2 The Codesign Problem 375
3 Temporal Determinism 376
4 Design Approaches 378
5 Codesign Tools 381
6 Conclusion 388
References 389
From Control Loops to Real-Time Programs 391
1 Introduction 391
2 From Mathematical Descriptions to Programs 395
3 Complex Periodic Controllers 399
4 Discrete Events and Hybrid Systems 406
5 Distribution and Fault Tolerance 411
References 413
Embedded Real-Time Control via MATLAB, Simulink, and xPC Target 415
1 Introduction 415
2 What Is Rapid Prototyping? 418
3 A Stewart Platform 419
4 xPC Target 421
5 xPC TargetBox 426
6 Generating Embedded Code 427
7 Plant Modeling 433
8 Data Acquisition 435
9 Stages in Control System Design 437
10 The Stewart Platform Controller 438
11 Conclusions 440
Acknowledgements 440
References 440
LabVIEW Real-Time for Networked/Embedded Control 443
1 Introduction: Control Applications Using LabVIEW 443
2 LabVIEW Real-Time Hardware Platforms 451
3 LabVIEW Real-Time Software Architecture 457
4 Conclusions 465
Acknowledgements 466
References 466
Control Loops in RTLinux. 467
1 Control Loops in RTLinux 467
2 Basic Control Loops: Event Driven and Periodic 468
3 A servocontroller 473
4 Controls Kit 475
References 484
Part IV Theory 485
An Introduction to Hybrid Automata 486
1 Introduction 486
2 Hybrid Automata: A Model for Hybrid Systems 487
3 Properties of Hybrid Systems 495
4 Rectangular Hybrid Automata 500
5 Beyond This Introduction 505
Acknowledgments 509
References 509
An Overview of Hybrid Systems Control 513
1 Introduction 513
2 A Simple Hybrid Control Model 515
3 Stabilization of Hybrid Systems 522
4 Optimal Control of Hybrid Systems 524
5 Language Speci.cation Problems 525
6 Concluding Remarks and Open Problems 526
Acknowledgments 527
References 527
Temporal Logic Model Checking 532
1 Introduction and Overview 532
2 Fundamentals of Model Checking 533
3 State Explosion and E.cient Veri.cation Methods 539
4 Conclusion 548
Acknowledgments 549
References 549
Switched Systems 552
1 Introduction 552
2 The Stability Problem 554
3 Stability Under Arbitrary Switching 557
4 Stability Under Constrained Switching 562
5 Other Concepts 566
Feedback Control with Communication Constraints 568
1 Introduction 568
2 A Basic Model of Networked Control Systems 570
3 Modeling Medium Access Constraints 570
4 A Complementary Viewpoint: Control with Limited Bit Rate 585
5 Beyond this Introduction 590
References 590
Note 592
Networked Control Systems: A Model-Based Approach 593
1 Introduction 593
2 Stability of Continuous Linear MB-NCS with Constant Update Times 594
3 A Performance Index for Linear MB-NCS with Constant Update Times 603
4 Stability of MB-NCS with Time-Varying Update Times 604
5 Stability of Linear MB-NCS with Quantization 612
6 Stability of a Class of Non-Linear MB-NCS 613
7 Conclusions 615
Acknowledgements 615
References 616
Control Issues in Systems with Loop Delays 618
1 Introduction 618
2 Effects of Loop Delays on Closed-Loop Dynamics 619
3 Delay-oriented Design: Dead-Time Compensation 627
4 Robustness with Respect to Delay Uncertainty/Variation 633
References 638
Part V Networking 640
Network Protocols for Networked Control Systems 641
1 Introduction 641
2 Control Network Basics 643
3 CAN-Based Networks: DeviceNet 650
4 Timing Components 651
5 Network Comparisons 657
6 Conclusions and Future Work 662
References 664
Control Using Feedback over Wireless Ethernet and Bluetooth 666
1 Introduction 666
2 Control using IEEE 802.11 672
3 Controlling a Hard Real-Time System over Information Channels with Uncertainties 677
4 Feedback over Bluetooth Wireless Data Channels 681
5 Packet Structures for Real-Time Control Using Bluetooth 683
6 Experiments with a Real-Time Testbed 685
References 686
Bluetooth in Control 687
1 Introduction 687
2 Bluetooth 688
3 Distributed Control Systems 698
4 Summary 708
References 708
Embedded Sensor Networks 709
1 Introduction 709
2 Hardware Platforms and Sensors 710
3 Software and Protocols 711
4 Applications 721
5 Conclusions 722
References 723
Part VI Applications 727
Vehicle Applications of Controller Area Network 728
1 Introduction 728
2 Controller Area Network 731
3 Architectures 738
4 Control Applications 744
5 Perspectives 749
Acknowledgments 751
References 752
Control of Autonomous Mobile Robots 753
1 Background 753
2 Multi-Modal Control 754
3 Task Speci.cations 758
4 Final Remarks 763
References 764
Wireless Control with Bluetooth 765
1 What is Bluetooth? 765
2 Link Overview 768
3 Control Applications 771
4 Reference Projects 776
5 Finding More Information 777
References 778
The Cornell RoboCup Robot Soccer Team: 1999–2003 779
1 Introduction 779
2 Physical System Architecture 781
3 The Robots 781
4 Functional Architecture 783
5 Lessons Learned 789
References 789
Index 791

Produkt-Details

• Erscheint lt. Verlag: 14.11.2007
• Reihe/Serie: Control Engineering
• Reihe/Serie: Control Engineering
• Mitarbeit: Mitglied der Redaktion: R. Alur, K.-E. Arzen, John Baillieul, T.A. Henzinger
• Zusatzinfo: X, 822 p. 256 illus.
• Verlagsort: Boston
• Sprache: englisch
• Themenwelt: Mathematik / Informatik ► Informatik ► Netzwerke
• Themenwelt: Technik ► Elektrotechnik / Energietechnik
• Themenwelt: Technik ► Nachrichtentechnik
• Themenwelt: Wirtschaft ► Betriebswirtschaft / Management ► Logistik / Produktion
• Schlagworte: Actor • Actuator • Automata • Bluetooth • Communication • Communication Networks • Complexity • control engineering • Controller Area Network • Data acquisition • embedded control systems • LabView • MATLAB • programmable logic controller • real-time control • robot • Sensor • sensor network • Signal
• ISBN-10: 0-8176-4404-0 / 0817644040
• ISBN-13: 978-0-8176-4404-8 / 9780817644048