Table Of Content

Control Engineering Series Editor William S. Levine Department of Electrical and Computer Engineering University of Maryland College Park, MD 20742-3285 USA Editorial Advisory Board Okko Bosgra William Powers Delft University Ford Motor Company (retired) The Netherlands USA Graham Goodwin Mark Spong University of Newcastle University of Illinois Australia Urbana-Champaign USA Petar Kokotovic´ University of California Iori Hashimoto Santa Barbara Kyoto University USA Kyoto Japan Manfred Morari ETH Zürich Switzerland Handbook of Networked and Embedded Control Systems Dimitrios Hristu-Varsakelis William S. Levine Editors EditorialBoard RajeevAlur Karl-ErikA˚rzeń JohnBaillieul TomHenzinger Birkhaüser Boston • Basel • Berlin WilliamS.Levine DimitriosHristu-Varsakelis DepartmentofElectricaland DepartmentofAppliedInformatics ComputerEngineering UniversityofMacedonia UniversityofMaryland Thessaloniki,54006 CollegePark,MD20742 Greece USA LibraryofCongressCataloging-in-PublicationData Handbookofnetworkedandembeddedcontrolsystems/DimitriosHristu-Varsakelis, WilliamS.Levine,editors. p.cm.–(Controlengineering) Includesbibliographicalreferencesandindex. ISBN0-8176-3239-5(alk.paper) 1.Embeddedcomputersystems.I.Hristu-Varsakelis,Dimitrios.II.Levine,W.S.III. Controlengineering(Birkhaüser) TK7895.E42H292005 629.8’9–dc22 2005041046 ISBN-100-8176-3239-5 e-BSN0-8176-4404-0 Printedonacid-freepaper. ISBN-13978-0-8176-3239-7 (cid:1)c2005BirkhaüserBoston Allrightsreserved.Thisworkmaynotbetranslatedorcopiedinwholeorinpartwithoutthewrit- tenpermissionofthepublisher(BirkhaüserBoston,c/oSpringerScience+BusinessMediaInc.,233 Spring Street, New York, NY, 10013, USA), except for brief excerpts in connection with reviews or scholarly analysis. Use in connection with any form of information storage and retrieval, elec- tronicadaptation,computersoftware,orbysimilarordissimilarmethodologynowknownorhereafter developedisforbidden. Theuseinthispublicationoftradenames,trademarks,servicemarksandsimilarterms,evenifthey arenotidentifiedassuch,isnottobetakenasanexpressionofopinionastowhetherornottheyare subjecttoproprietaryrights. PrintedintheUnitedStatesofAmerica. (JLS/MP) 987654321 SPIN10925324 www.birkhauser.com Contents Preface ........................................................ ix Part I Fundamentals Fundamentals of Dynamical Systems William S. Levine................................................ 3 Control of Single-Input Single-Output Systems Dimitrios Hristu-Varsakelis, William S. Levine ...................... 21 Basics of Sampling and Quantization Mohammed S. Santina, Allen R. Stubberud.......................... 45 Discrete-Event Systems Christos G. Cassandras........................................... 71 Introduction to Hybrid Systems Michael S. Branicky.............................................. 91 Finite Automata M. V. Lawson ...................................................117 Basics of Computer Architecture Charles B. Silio, Jr...............................................145 Real-Time Scheduling for Embedded Systems Marco Caccamo, Theodore Baker, Alan Burns, Giorgio Buttazzo, Lui Sha.........................................................173 Network Fundamentals David M. Auslander, Jean-Dominique Decotignie.....................197 vi Contents Part II Hardware Basics of Data Acquisition and Control M. Chidambaram ................................................227 Programmable Logic Controllers Gustaf Olsson ...................................................259 Digital Signal Processors Rainer Leupers, Gerd Ascheid .....................................279 Microcontrollers Steven F. Barrett, Daniel J. Pack..................................295 SOPCs: Systems on Programmable Chips William M. Hawkins .............................................323 Part III Software Fundamentals of RTOS-Based Digital Controller Implementation Qing Li.........................................................353 Implementation-Aware Embedded Control Systems Karl-Erik ˚Arzén, Anton Cervin, Dan Henriksson.....................377 From Control Loops to Real-Time Programs Paul Caspi, Oded Maler ..........................................395 Embedded Real-Time Control via MATLAB, Simulink, and xPC Target Pieter J. Mosterman, Sameer Prabhu, Andrew Dowd, John Glass, Tom Erkkinen, John Kluza, Rohit Shenoy................................419 LabVIEW Real-Time for Networked/Embedded Control John Limroth, Jeanne Sullivan Falcon, Dafna Leonard, Jenifer Loy ....447 Control Loops in RTLinux Victor Yodaiken, Matt Sherer, Edgar Hilton .........................471 Part IV Theory An Introduction to Hybrid Automata Jean-François Raskin.............................................491 Contents vii An Overview of Hybrid Systems Control John Lygeros ....................................................519 Temporal Logic Model Checking Edmund Clarke, Ansgar Fehnker, Sumit Kumar Jha, Helmut Veith.....539 Switched Systems Daniel Liberzon..................................................559 Feedback Control with Communication Constraints Dimitrios Hristu-Varsakelis .......................................575 Networked Control Systems: A Model-Based Approach Luis A. Montestruque and Panos J. Antsaklis .......................601 Control Issues in Systems with Loop Delays Leonid Mirkin, Zalman J. Palmor..................................627 Part V Networking Network Protocols for Networked Control Systems F.-L. Lian, J. R. Moyne, D. M. Tilbury ............................651 ControlUsingFeedbackoverWirelessEthernetandBluetooth A. Suri, J. Baillieul, D. V. Raghunathan............................677 Bluetooth in Control Bo Bernhardsson, Johan Eker, Joakim Persson ......................699 Embedded Sensor Networks John Heidemann, Ramesh Govindan ...............................721 Part VI Applications Vehicle Applications of Controller Area Network Karl Henrik Johansson, Martin To¨rngren, Lars Nielsen...............741 Control of Autonomous Mobile Robots Magnus Egerstedt ................................................767 Wireless Control with Bluetooth Vladimeros Vladimerou, Geir Dullerud .............................779 The Cornell RoboCup Robot Soccer Team: 1999–2003 Raffaello D’Andrea ..............................................793 Index..........................................................805 Preface Thishandbookwasmotivatedinpartbyourexperience(andthatofothers)in performing research and in teaching about networked and embedded control systems (NECS) as well as in implementing such systems. Although NECS— alongwiththetechnologiesthatenablethem—havebecomeubiquitous,there are few, if any, sources where a student, researcher, or developer can gain a sufficiently broad view of the subject. Oftentimes, the needed information is scattered in articles, websites, and specification sheets. Such difficulties are perhaps to be expected, given the relative newness of the subject and the diversity of its constitutive disciplines. From control theory and communica- tions, to computer science and electronics, the variety of approaches, tools, and language used by experts in each field often acts as a barrier to under- standinghowideasfitwithinthebroadercontextofnetworkedandembedded control. With the above in mind, we have gathered a collection of articles that provide at least an introduction to the important results, tools, software, and technologies that shape the area of NECS. Our goal was to present the most important knowledge about NECS in a book that would be useful to anyone who wants to learn about any aspect of the subject. We hope that we have succeeded and that every reader will find valuable information in the book. Wethanktheauthorsofeachofthechapters.Theyareallbusypeopleand we are extremely grateful to them for their outstanding work. We also thank Tom Grasso, Editor, Computational Sciences and Engineering at Birkhaüser Boston,forallhishelpindevelopingthehandbook,andReginaGorenshteyn, Assistant Editor, for guiding the editorial and production aspects of the vol- ume.Lastly,wethankTorreyAdamswhosecopyeditinggreatlyimprovedthe book. We gratefully acknowledge the support of our wives, Maria K. Hristu and Shirley Johannesen Levine, and our families. College Park, MD Dimitrios Hristu-Varsakelis April 2005 William S. Levine Part I Fundamentals Fundamentals of Dynamical Systems William S. Levine Department of ECE, University of Maryland, College Park, MD, 20742, U.S.A. [email protected] 1 Introduction Forthepurposesofcontrolsystemdesign,analysis,test,andrepair,themost importantpartoftheverybroadsubjectknownassystemtheoryisthetheory of dynamical systems. It is difficult to give a precise and sufficiently general definition of a dynamical system for reasons that will become evident from the detailed discussion to follow. All systems that can be described by or- dinary differential or difference equations with real coefficients (ODEs) are indubitably dynamical systems. A very important example of a dynamical system that cannot be described by a continuous-time ODE is a pure delay. Most of this chapter will deal with different ways to describe and analyze dynamical systems. We will precisely specify the subclass of such systems for which each description is valid. The idea of a system involves an approximation to reality. Specifically, a systemisadevicethatacceptsaninputsignalandproducesanoutputsignal. It is assumed to do this regardless of the energy or power in the input signal and independent of any other system connected to it. Physical devices do not normally behave this way. The response of a real system, as opposed to that of its mathematical approximation, depends on both the input power and whatever load the output is expected to drive. Fortunately, the engineers who design real systems generally design them to behave as closely to an abstract system as possible. For electronic devices this amounts to creating subsystems with high input impedance and low output impedance. Such devices require minimal power in their inputs and will deliver the needed power to a broad range of loads without changing their outputs. Where this is not the case it is usually possible to purchase buffer circuitswhichwilldrivetheloadwithoutalteringthesignaloutoftheoriginal device. Good examples of this are the circuits used to connect the transistor- transistor logic (TTL) output of a typical microprocessor to a servomotor. This means that, in both theory and practice, systems can be intercon- nectedwithoutworryingabouteithertheinputoroutputpower.Italsomeans