Message scheduling in networked control system rotary inverted pendulum system

Abstract

Networked Control System (NCS) is a control system that combines two components which computer network and control theory. The main advantage of NCS is combining and connected several control loops together in one network system using less wiring that also reduces cost. This approach is widely used in automotive and manufacturing field. Regarding to the many control loops connected into a NCS system, the major problem that always happen in NCS is the data scheduling that lead to network delay and resulted the task missed their deadlines. This problem also can cause data loss and data collision during the transmission on the network. To analyze this phenomenon and overcome the problem, a NCS system using four Rotary Inverted Pendulum (RIP) as the system plants is created and tested using several scheduling algorithm such as Deadline Monotonic (DM), Earliest Deadline First (EDF) and Mixed Traffic Scheduling (MTS) with different sampling time to observe the effect of the RIP system. The design implementation of this project is performed using MATLAB simulink with specialized library used called Truetime Toolbox. The RIP with NCS approach performs better compare to without NCS approach in terms of fast settling time. For the four RIP plant connected using NCS approach, the Mixed Traffic Scheduling method perform better compare to DM and EDF scheduling method.