A Sampling Period Decision for Robust Control of Distributed Control System using In-Vehicle Network 2004-01-0211
This paper presents a preliminary study of a sampling period decision for robust control of a distributed control system based on an in-vehicle network with three types of data (real-time synchronous data, real-time asynchronous data, and nonreal-time asynchronous data). The architecture of automotive systems is currently changing from a number of standalone electronic control units (ECUs) to a functionally integrated distributed system which is linked by a network. The control performance of the integrated networked control system can be changed by the characteristics of time delays among the application ECUs. A basic parameter for a scheduling method of the networked control systems, a maximum allowable delay bound is used, which guarantees stability of the networked control system, and it is derived from the characteristics of the given plant using presented theorems. The presented theorems are derived from sliding mode technique for input-delay systems and a sampling period can be selected from the computed maximum allowable delay bound. The proposed method is shown to be useful through simulation examples.