Model-Based Method to Codesign of Control, Computing, and Communications with Resource Constraints

To optimize the overall quality of control (QoC) of networked control systems (NCSs), it is necessary to adopt the codesign from the control, computing, and communication perspectives. By analyzing related problems and method formulation, an implementation architecture for the codesign is proposed, which could flexibly allocate system resources under the constraints of communication bandwidth, CPU resource, and jitter range. The key to realizing codesign is an analysis model of NCSs that includes various factors such as control algorithm, CPU scheduling, and network resource. The optimized implementation scheme for codesign is estimated by comparing QoCs. Finally, the experiment with a CAN-based computer numerical control (CNC) system is conducted, and the results show that the scheduler adjusts system resource according to temporal time attributes, improving the QoC of CNC. The presented model-based approach to codesign is effective, and is helpful in using system resources and further enhancing overall QoC.