Improved operation of networked control systems using Lebesgue sampling

This paper introduces an improved network communication method for mission-critical real-time computer controlled processes. Based on Lebesgue sampling theory, this method is referred to as the timed event architecture/protocol (TEA/TEP). As an alternative the time-triggered protocol for control (TTP/C), TEP is designed to minimize the number of communication events on a communication bus and thereby reduce the cost and complexity of network control systems. Experimental results for an automated material handling system based on a modified controller area network (CAN 2.0b) protocol with a feedback motion control system are presented. These results demonstrate the benefits of TEP compared to conventional sampled data systems implemented with TTP/C.