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Network Induced Delay Models for Can Based Networked Control Systems Evaluation Edición Única

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Figure 1.1: Typical setup and information flow of a NCS. The communi- communi-cation medium is shared by several users (controllers, actuators, sensors).
Figure 2.1: Time delays in NCS. τ sc is the sensor to controller delay, τ ca
Figure 3.4: Example of bit-wise arbitration. Nodes 1 & 2 start arbitra- arbitra-tion at point 1
Figure 4.1: Packet arrivals in a NCS when delays are less than one sampling period [Zhang 01].
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