Networked control system (NCS) on a network CAN: On the quality of service (QoS) and quality of control (QoC) provided by different message scheduling schemes based on hybrid priorities

The message scheduling is an important mechanism in the context of Networked Control Systems. The message scheduling is, in several networks, mainly based on static priorities associated to the messages (for example the network CAN). This static priority scheme has intrinsic limitations and so here we will consider scheduling strategies based on hybrid priorities. Three hybrid priority schemes, resulting from our previous works are first presented. Then we compare the Quality of Service (QoS) offered by these schemes to a process control application and we evaluate the resulting Quality of Control (QoC).