Abstract
The goal of this paper is to consider a co-design approach between the controller of a process control application and the frame scheduling for CAN-Based Networked Control Systems in order to simultaneously improve the Quality of Control (QoC) of the process control and the Quality of Service (QoS) of the CAN-based network. First, we present a way to calculate the closed-loop communication time delay and we compensate this time delay using the pole-placement design method. Second, we propose a hybrid priority scheme for the message scheduling which allows to improve the QoS. Finally, we present a co-design of the communication time delay compensation and the message scheduling, which gives a more efficient Networked Control System
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