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End-to-End Adaptive Congestion Control in TCP/IP Networks K11881_FM.indd 1 3/19/12 1:50 PM AUTOMATION AND CONTROL ENGINEERING A Series of Reference Books and Textbooks Series Editors FRANK L. LEWIS, Ph.D., SHUZHI SAM GE, Ph.D., Fellow IEEE, Fellow IFAC Fellow IEEE Professor Professor Automation and Robotics Research Institute Interactive Digital Media Institute The University of Texas at Arlington The National University of Singapore Quantitative Process Control Theory, Weidong Zhang Intelligent Diagnosis and Prognosis of Industrial Networked Systems, Chee Khiang Pang, Frank L Lewis, Tong Heng Lee, Zhao Yang Dong Classical Feedback Control: With MATLAB® and Simulink®, Second Edition, Boris J. Lurie and Paul J. Enright Synchronization and Control of Multiagent Systems, Dong Sun Subspace Learning of Neural Networks, Jian Cheng Lv, Zhang Yi, and Jiliu Zhou Reliable Control and Filtering of Linear Systems with Adaptive Mechanisms, Guang-Hong Yang and Dan Ye Reinforcement Learning and Dynamic Programming Using Function Approximators, Lucian Bus¸oniu, Robert Babuška, Bart De Schutter, and Damien Ernst Modeling and Control of Vibration in Mechanical Systems, Chunling Du and Lihua Xie Analysis and Synthesis of Fuzzy Control Systems: A Model-Based Approach, Gang Feng Lyapunov-Based Control of Robotic Systems, Aman Behal, Warren Dixon, Darren M. Dawson, and Bin Xian System Modeling and Control with Resource-Oriented Petri Nets, Naiqi Wu and MengChu Zhou Sliding Mode Control in Electro-Mechanical Systems, Second Edition, Vadim Utkin, Jürgen Guldner, and Jingxin Shi Optimal Control: Weakly Coupled Systems and Applications, Zoran Gajic´, Myo-Taeg Lim, Dobrila Skataric´, Wu-Chung Su, and Vojislav Kecman Intelligent Systems: Modeling, Optimization, and Control, Yung C. Shin and Chengying Xu Optimal and Robust Estimation: With an Introduction to Stochastic Control Theory, Second Edition, Frank L. Lewis, Lihua Xie, and Dan Popa Feedback Control of Dynamic Bipedal Robot Locomotion, Eric R. Westervelt, Jessy W. Grizzle, Christine Chevallereau, Jun Ho Choi, and Benjamin Morris Intelligent Freight Transportation, edited by Petros A. Ioannou Modeling and Control of Complex Systems, edited by Petros A. Ioannou and Andreas Pitsillides Wireless Ad Hoc and Sensor Networks: Protocols, Performance, and Control, Jagannathan Sarangapani Stochastic Hybrid Systems, edited by Christos G. Cassandras and John Lygeros K11881_FM.indd 2 3/19/12 1:50 PM Automation and Control Engineering Series End-to-End Adaptive Congestion Control in TCP/IP Networks Christos N. Houmkozlis Artistotle University of Thessaloniki, Greece George A. Rovithakis Artistotle University of Thessaloniki, Greece Boca Raton London New York CRC Press is an imprint of the Taylor & Francis Group, an informa business K11881_FM.indd 3 3/19/12 1:50 PM CRC Press Taylor & Francis Group 6000 Broken Sound Parkway NW, Suite 300 Boca Raton, FL 33487-2742 © 2012 by Taylor & Francis Group, LLC CRC Press is an imprint of Taylor & Francis Group, an Informa business No claim to original U.S. Government works Version Date: 20120316 International Standard Book Number-13: 978-1-4398-4058-0 (eBook - PDF) This book contains information obtained from authentic and highly regarded sources. Reasonable efforts have been made to publish reliable data and information, but the author and publisher cannot assume responsibility for the validity of all materials or the consequences of their use. 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TThhiiss ppaaggee iinntteennttiioonnaallllyy lleefftt bbllaannkk Contents List of Figures xiii List of Tables xix Preface xxi 1 Introduction 1 1.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.2 Future Internet . . . . . . . . . . . . . . . . . . . . . . . . . . 2 1.3 Internet Congestion Control . . . . . . . . . . . . . . . . . . 4 1.4 Adaptive Congestion Control . . . . . . . . . . . . . . . . . . 8 I Background on Computer Networks and Conges- tion Control 13 2 Controlled System: The Packet-Switched Network 15 2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 2.2 Network Connectivity . . . . . . . . . . . . . . . . . . . . . . 17 2.2.1 Links and Nodes . . . . . . . . . . . . . . . . . . . . . 17 2.2.2 Sub-Networks . . . . . . . . . . . . . . . . . . . . . . . 17 2.2.3 Network Classification . . . . . . . . . . . . . . . . . . 19 2.2.4 LAN Topologies . . . . . . . . . . . . . . . . . . . . . 21 2.3 Network Communication . . . . . . . . . . . . . . . . . . . . 24 2.3.1 Packet Switching . . . . . . . . . . . . . . . . . . . . . 24 2.3.2 Protocols and Layering . . . . . . . . . . . . . . . . . 26 2.3.3 Internet Architecture. . . . . . . . . . . . . . . . . . . 28 2.3.4 Transfer Control Protocol (TCP) . . . . . . . . . . . . 32 2.3.5 User Datagram Protocol (UDP) . . . . . . . . . . . . 37 2.3.6 Internet Protocol(IP) . . . . . . . . . . . . . . . . . . 38 2.4 Performance Characteristics . . . . . . . . . . . . . . . . . . 40 2.4.1 Queue Size . . . . . . . . . . . . . . . . . . . . . . . . 40 2.4.2 Throughput . . . . . . . . . . . . . . . . . . . . . . . . 41 2.4.3 Link Utilization. . . . . . . . . . . . . . . . . . . . . . 41 2.4.4 Packet Loss Rate . . . . . . . . . . . . . . . . . . . . . 41 2.4.5 Round Trip Time . . . . . . . . . . . . . . . . . . . . . 41 2.4.6 Fairness . . . . . . . . . . . . . . . . . . . . . . . . . . 42 2.5 Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 vii viii 2.5.1 E-Mail . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 2.5.2 World Wide Web . . . . . . . . . . . . . . . . . . . . . 44 2.5.3 Remote Access . . . . . . . . . . . . . . . . . . . . . . 45 2.5.4 File Transfer . . . . . . . . . . . . . . . . . . . . . . . 45 2.5.5 Streaming Media . . . . . . . . . . . . . . . . . . . . . 46 2.5.6 Internet Telephony (VOIP) . . . . . . . . . . . . . . . 46 2.6 Concluding Comments . . . . . . . . . . . . . . . . . . . . . 47 3 Congestion Issues and TCP 49 3.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 3.2 Core Issues in Congestion Control . . . . . . . . . . . . . . . 50 3.3 TCP: Flow Control and Congestion Control . . . . . . . . . 51 3.3.1 Slow Start . . . . . . . . . . . . . . . . . . . . . . . . . 52 3.3.2 Congestion Avoidance . . . . . . . . . . . . . . . . . . 53 3.3.3 Fast Retransmit and Fast Recovery. . . . . . . . . . . 55 3.4 TCP Problems . . . . . . . . . . . . . . . . . . . . . . . . . . 57 3.5 Managing Congestion . . . . . . . . . . . . . . . . . . . . . . 59 3.5.1 TCP Friendliness . . . . . . . . . . . . . . . . . . . . . 59 3.5.2 Classification of Congestion Control Protocols. . . . . 60 3.5.2.1 Window-Based vs. Rate-Based . . . . . . . . 60 3.5.2.2 Unicast vs. Multicast . . . . . . . . . . . . . 61 3.5.2.3 End-to-End vs. Router-Based. . . . . . . . . 62 3.6 Concluding Comments . . . . . . . . . . . . . . . . . . . . . 63 4 Measuring Network Congestion 65 4.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 4.2 Drop Tail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 4.3 Congestion Early Warning . . . . . . . . . . . . . . . . . . . 67 4.3.1 Packet Drop Schemes . . . . . . . . . . . . . . . . . . 68 4.3.2 Packet Marking Schemes. . . . . . . . . . . . . . . . . 72 4.4 Concluding Comments . . . . . . . . . . . . . . . . . . . . . 77 5 Source-Based Congestion Control Mechanisms 79 5.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 5.2 Traditional TCP . . . . . . . . . . . . . . . . . . . . . . . . . 80 5.3 TCP Modifications for Networks with Large Bandwidth Delay Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 5.3.1 Scalable TCP (STCP) . . . . . . . . . . . . . . . . . . 82 5.3.2 HighSpeed TCP (HSTCP) . . . . . . . . . . . . . . . 82 5.3.3 BIC . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 5.3.4 CUBIC . . . . . . . . . . . . . . . . . . . . . . . . . . 85 5.4 Delay-Based Congestion Control . . . . . . . . . . . . . . . . 86 5.4.1 TCP Vegas . . . . . . . . . . . . . . . . . . . . . . . . 87 5.4.2 FAST TCP . . . . . . . . . . . . . . . . . . . . . . . . 88 5.5 Congestion Control for Wireless Networks . . . . . . . . . . . 89 ix 5.5.1 TCP Westwood . . . . . . . . . . . . . . . . . . . . . . 90 5.5.2 TCP Veno. . . . . . . . . . . . . . . . . . . . . . . . . 91 5.6 Congestion Control for Multimedia Applications . . . . . . . 92 5.6.1 Rate Adaptation Protocol (RAP) . . . . . . . . . . . . 92 5.6.2 TFRC . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 5.7 Concluding Comments . . . . . . . . . . . . . . . . . . . . . 95 6 Fluid Flow Model Congestion Control 97 6.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 6.2 The Fluid Flow Model . . . . . . . . . . . . . . . . . . . . . 98 6.3 Network Representation . . . . . . . . . . . . . . . . . . . . . 99 6.4 Congestion Control as a Resource Allocation Problem . . . . 101 6.4.1 Dual Approach . . . . . . . . . . . . . . . . . . . . . . 103 6.4.2 Primal Approach . . . . . . . . . . . . . . . . . . . . . 104 6.4.3 Utility Function Selection . . . . . . . . . . . . . . . . 104 6.5 Open Issues . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 6.5.1 Stability and Convergence . . . . . . . . . . . . . . . . 106 6.5.2 Implementation Constraints . . . . . . . . . . . . . . . 107 6.5.3 Robustness . . . . . . . . . . . . . . . . . . . . . . . . 107 6.5.4 Fairness . . . . . . . . . . . . . . . . . . . . . . . . . . 108 6.6 Concluding Comments . . . . . . . . . . . . . . . . . . . . . 109 II Adaptive Congestion Control Framework 111 7 NNRC: An Adaptive Congestion Control Framework 113 7.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 7.2 Packet Switching Network System . . . . . . . . . . . . . . . 114 7.3 Problem Statement . . . . . . . . . . . . . . . . . . . . . . . 117 7.4 Throughput Improvement . . . . . . . . . . . . . . . . . . . . 118 7.5 NNRC Framework Description . . . . . . . . . . . . . . . . . 120 7.5.1 Future Path Congestion Level Estimator . . . . . . . . 121 7.5.2 Feasible Desired Round Trip Time Estimator . . . . . 122 7.5.3 Rate Control . . . . . . . . . . . . . . . . . . . . . . . 122 7.5.4 Throughput Control . . . . . . . . . . . . . . . . . . . 123 7.6 Concluding Comments . . . . . . . . . . . . . . . . . . . . . 123 8 NNRC: Rate Control Design 125 8.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125 8.2 Feasible Desired Round Trip Time Estimator Design . . . . . 125 8.2.1 Proof of Lemma 8.1 . . . . . . . . . . . . . . . . . . . 129 8.2.2 Proof of Lemma 8.2 . . . . . . . . . . . . . . . . . . . 130 8.3 Rate Control Design . . . . . . . . . . . . . . . . . . . . . . . 132 8.3.1 Guaranteeing Boundness of Transmission Rate . . . . 137 8.3.2 Reducing Rate in Congestion . . . . . . . . . . . . . . 138 8.4 Illustrative Example . . . . . . . . . . . . . . . . . . . . . . . 140 8.4.1 Implementation Details . . . . . . . . . . . . . . . . . 141