This paper proposes a new method to obtain a maximum allowable delay bound for a scheduling of networked control systems. The proposed method is formulated in terms of linear matrix inequalities and can give a much less conservative delay bound than the existing methods. A network scheduling method is presented based on the delay obtained through the proposed method, the bandwidth of a network is allocated to each node and the sampling period of each sensor and controller is determined. The presented method can handle three types of data (periodic data, sporadic data, and message) and guarantees real-time transmission of periodic and sporadic data, and minimum network utilization for non-real time message.
Available online: https://www.sciencedirect.com/science/article/pii/S0967066102002381