JOURNALOFCOMPUTING,VOLUME3,ISSUE6,JUNE2011,ISSN21519617 HTTPS://SITES.GOOGLE.COM/SITE/JOURNALOFCOMPUTING/ WWW.JOURNALOFCOMPUTING.

ORG

Diagnosis Systems Behaviours of Networked Control Systems based on CAN and Switched Ethernet Networks according to various NCS Structures
Adel Naoui, Saloua Bel Hadj Ali Naoui, Lissan-Eddine Afilal and Mohamed Naceur Abdelkrim
Abstract-- The distributed control systems are more and more used in many industrial applications. These systems are often referred as "Networked control systems". The goal of this article is to investigate the influence on diagnosis system of the considered structure of networked control system. Two networks are considered: Switched Ethernet network and CAN (Controller Area Network). The first one represents the non-deterministic case and the second one represents the deterministic one. Several scenarios are studied to evaluate the performance of diagnosis system according to the network parameter packet losses. The Truetime simulator is used in this work for modelling task. Index Terms-- Networked Control Systems (NCS); CAN, Switched Ethernet, Structure of NCS, Truetime, Simulation, Diagnosis, Residuals, and Packet losses.

reconfiguration and can also reduce setup and maintenancecosts.However,suchstrategyhasmany impacts. First, the network implementation in the controlsystemsmakestheanalysisanddesignofan NCS complex. Then, the conventional control theories with many ideal assumptions, such as synchronised control and non delayed sensing and actuation, must be reevaluated before they can be applied to the NCSs. The networkinduced delay makes the traditional study of time delay systems different. Usually, in these systems the delay is assumed constant or varying in time interval. Another issue caused by the network is the packet losses and the frames scheduling which should be accommodated during control system designing. These artefacts can degrade the performance of control and diagnosis systems and can even destabilizethesystem[1],[2],[3]. The objective of this article is to analyse the behaviour of diagnosis system regarding three different structures of networked control system based on two kinds of networks: a deterministic network: CAN and a non deterministic network: SwitchedEthernet.Themainoutcomeistoshowthe importance of the structure of the NCS on the diagnosisremoteapplications. The simulation of networks has been carried using the Truetime toolbox, as a means for simulation of distributed realtime control systems. The Truetime library provides specific blocks for the network interfacemodelling.ThislibraryisdevelopedinC++ language.AlldevelopedfilesarecompiledinMatlab by using an external C++ compiler. Truetime provides few types of networks which can be used

1 INTRODUCTION

he Networked Control Systems (NCS) are systemswherecontrollers,sensors,actuatorsand diagnosis system communicate over a network (Figure 1). They are more and more used in many industrial applications in the context of Flexible Manufacturing Systems (FMS), and Reconfigurable ManufacturingSystems(RMS).

Fig. 1. Networked Control System

The NCS represents a complex research field due to itspluridisciplinaryaspect.Infact,NCSstudieshave to take into account simultaneously knowledges on network,computerandcontrol. Embedding network communication inthe feedback controlloopenablestoimproveefficiency,flexibility, dependability and modularity of the systems. This offers opportunities to easy installation and

http://sites.google.com/site/journalofcomputing/ 2011 Journal of Computing Press, NY, USA, ISSN 2151-9617

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for NCS simulation (Ethernet, CAN, Round Robin, TDMA, FDMA, Switched Ethernet and WLAN or ZigBeeWirelessnetworks)[4],[5],[6]. This article is organized as follows: In section 2, Different structures of NCS are presented. The section 3 describes the two networks used, in the section4wedescribethestudiedNCS.Thesection5 presentsthe effectsofthenetworkparameterpacket losses on the structures considered when the CAN networkisusedandinsection6,wepresentthesame study with the Switched Ethernet network. Finally, resultsinterpretationandaconclusionaregiven.

2 NCS STRUCTURES
SeveralstructuresofNCScanbeconsidered[7]:

Fig. 2. Different Structures of NCS

2.1 Structure 1
Thisstructureisshowninfigure2.a.Thenetworkis onlyusedtoconnectsensorstothediagnosissystem andthecontroller.Inthiscase,perturbationinduced by the network only affects the information transfer fromsensorstocontroller.

3 PRESENTATION OF THE NETWORKS

3.1 CAN Network

The Controller Area Network (CAN) serial bus systemisusedinabroadrangeofembeddedaswell as automation control systems. The main CAN applicationfieldsincludecars,trucks,trains,aircraft, factory automation, industrial machine control, building CAN network is based on serial bus shared by stations by mean of a CSMA/CA (Carrier Sense Multiple Access with Collision Avoidance) scheme withadeterministiccollisionresolution.Thecollision resolution is based on priorities associated to identifiers (addresses) of the frame which carry the dataofapplicationtasks. The priority (at which message is transmitted comparedtoanotherlessurgentmessage)isspecified by the identifier of each message. The priorities are laid down during system design in the form of corresponding binary values and cannot be changed dynamically. The identifier with the lowest binary number has thehighest priority. Busaccess conflicts are resolved by bitwise arbitration of the identifiers involved by each station observing the bus level bit for bit. This happens in accordance with the wired andmechanism, by which the dominant state overwrites the recessive state. All those stations

2.2 Structure 2:
Thisstructureisshowninfigure2.b.Thenetworkis only used to connect sensors, diagnosis system and controller to the actuator. In this case, perturbation induced by the network affects only theinformation transferfromcontrollertoactuator.

2.3 Structure 3:
Thisstructureisshowninfigure2.c.Thenetworkis used in the closed loop between process, controller and diagnosis module. This structure is the most used and the influence of the network is higher in this case. Indeed, perturbation induced by the networkoperatesthroughoutthesystem.

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(nodes) with the recessive transmission and dominant observation lose the competition for bus access. Allthoselosersautomaticallybecomereceiversofthe message with the highest priority and do not reattempt transmission until the bus is available again.Transmissionrequestsarehandledinorderof their importance for the system as a whole. This proves especially advantageous in overload situations.Sincebusaccessisprioritizedonthebasis of the message, it is possible to guarantee low individual latency times in realtime systems [1],[17],[18].

4 DESCRIPTION OF THE STUDIED NCS

Most research in NCS studied the relationships between the network induced delay and the control systemstability.Otherworksshowedtheimpactsof Quality of Service (QoS) on the stability of feedback controlsystems.TheQoSmechanismsstudiedarethe frame scheduling, the task scheduling, the drop packets, and the protocols. However, only the field busesareconsidered. In this section, the goal is to study the network influence on the diagnosis system. Modelling and simulationareperformedbyTruetimesimulator.The studied networks are CAN and Switched Ethernet networks,andaservoproblemischoseninorderto followthecommandsignalandtoevaluatediagnosis systemperformance.

3.2 Switched Ethernet Network

Ethernetwasdevelopedinthe1970sandemergedin products in the early 1980s. It is now the dominant local area networking solution in home and office environment. It is fast, easy to install and the interfaceICsarecheap.Despiteearlyattemptstouse Ethernet as a realtime communication medium in the factories, practitioners were reluctant to adopt this technology because of its intrinsic non determinism. Originally, Ethernet uses a shared medium employing for example hub technology. In this case, simultaneous accesses to the medium generate collisions and the transmission is delayed till no collisionoccurs.Thissuggeststhat,intheworsecase, when the medium is overloaded; a message could neverbetransmitted. Since 1997, new Ethernet versions have been developed and proposed to replace the hub by switches, to connect all the devices in point to point to the switches, to generalise the use of fullduplex modeandtoincreasethebandwidth.Theinterestof these technology evolutions is to avoid collisions. However, the collision problem is shifted to a congestion problem in switches. A second issue is that the switches generate latencies that have to be takenintoaccountincontrolsystems. The use of switches in order to offer real time guarantees on factory communications has been suggestedandanalysedbymanyauthors.Theuseof switched Ethernet architecture in realtime systems led the development of the IEEE 802.1 D and IEEE 802.1Q. These systems, offer the possibility of compensation and reduction delay with use the prioritisationpacketprocedure[1],[8],[9].

4.1 Control system

ConsiderthePIDcontrolofaDCservodescribedby thefollowingcontinuoustimetransferfunction:

G (s)

1000 (1) s (1 s )

The PIDcontroller is implemented in TrueTime kernelblockaccordingtothefollowingequations[6], [10]:

P ( k ) K .( c ( k ) y ( k )) K I ( k 1) I ( k ) h ( c ( k ) y ( k )) Ti

(2)

D ( k ) a d D ( k 1) bd ( y ( k 1) y ( k )) u (k ) P (k ) I (k ) D (k )
Where a d

N k Td Td , b d , N h Td N h Td

h, N , Ti , Td , u , y and c are respectively sampling

period, number of sampling, integration constant, derivativeconstant,controlsignal,outputsignal,and referencevalue. The controller parameters were chosen to give the system a closedloop bandwidth of wc 20 rad / s andarelativedampingof 0.7 .

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The closed loop control system is distributed on a networkandmodelledwithTruetimesimulator.The system model is composed by the network model, the plant model, theactuator node,the sensor node, thecontrollernodeandthediagnosisnode.

Fig. 3. Diagnosis system Description

4.2 Diagnosis System

In general, measures and information acquired on a process doesnt allow, in almost of cases, the direct detection of a fault. Fault detection involves generating a fault indicator, commonly called residual. Many methods allow residual generation by using analytical models. These methods are generally classified in three categories: observer, parity space andparameterestimation. All these approaches use mathematical model to generate residuals. In the simplest case, the residual is obtained as the difference between the system output y and model prediction y through the followingequation:

The Kalman filter used as an observer in the diagnosis system is configured to reconstitute the signalfrommeasurements.Toobtaintheresidualwe simply subtract this signal to the signal taken from thenetworkoverthesensor[14]. The threshold is calculated for all structures as minimum and maximum values of the residual wheretheresnofault. Generally, faults are classified into two categories: the additive faults which influence a variable y by the addition of the fault

and the multiplicative

faults which is obtained by the product of another variable u with f . The faults are modelled as additivetermsinthesystemmodel, orasparameter changes.Thefirstapproachisusuallyappropriateto sensors and actuators faults, whereas the second is intendedforfaultsonprocessdynamicslevel[15].In this article, we use the approach based on observers for obtaining the residuals and we considered additivesimplefaults.Thediagnosissystemobjective istodetectpossiblefault f ofthevelocitysensor.

rk yk yk
(3)

4.3 Truetime/Simulink models

Figure 4 shows the adopted Truetime/Simulink [6],[16] models of the considered NCS. Truetime toolbox [6], [15] is used to simulate networks functionalities and to create models of sensor, actuator,controlleranddiagnosissystem. Infigure4(a),thatrepresentsNCSstructure1model, the Truetime toolbox is used to model network, diagnosis system (node 5), sensor (node 3) and controller (node4). Actuator is connecteddirectlyto controller. Infigure4(b),thatrepresentsNCSstructure2model, the Truetime toolbox is used to model network, controller (node 4) and actuator (node 2). Sensor is connecteddirectlytocontrolleranddiagnosissystem (node 5). The regulation algorithm is done and then set point (reference signal) is given to actuator over network. Infigure4(c),thatrepresentsNCSstructure3model, allcomponentscommunicateovernetwork.Truetime is used to model network and all this components likenodes.

yk can be obtained by model simulation from the

system measured inputs or by prediction from inputs/outputs. In theory, this residual is equal to zerointhepresenceofahealthysystemanddifferent fromzerowhenasystemisdefected:

rk 0 Nofault, rk 0 fault.
Once the residual vector generated, this one is evaluated i.e. transformed into symptom. Fault appearance is detected once a residual r is different fromzero.[11],[12],[13] Figure 3 presents a description of the diagnosis systemusedinthisstudy.

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(a)

Two cases are studied, at first the network is used withidealassumptions,andthenthenetworkisused withlossespacket(information). In all cases, we assume that the congestion does not generate the drop packets. This simulates situation where the buffers in network devices are well dimensioned,andweconsiderthethreestructuresof NCS.

5.2 CAN network with ideal assumptions

Firstly, the system is simulated in the ideal case. Thus, the network introduces no packet losses and the delay depends only on the traffic generated by the realtime system. Therefore, the network is not sharedwithotherapplications. Figure5showsthebehaviourofthesystemonCAN networkaccordingtothethreestructuresoftheNCS.
System R on esp se 2 1.5 1

(b)

R esidual r 2 1.5 1 0.5 rad/s 0 -0.5 -1 -1.5

(a)
ra /s d

0.5 0 -0.5 -1

(c)
(b)
ra d/s

-1.5 -2 0

0.2

0 .4

0 .6

0.8

1 tim e(s)

1 .2

1 .4

1 .6

1.8

-2 0

0.2

0.4

0.6

0.8

1 1.2 tim e(s)

1.4

1.6

1.8

Syste R sp se m e on 2 1.5 1 0.5

R esidual r 2 1.5 1 0.5 rad/s 0 -0.5 -1 -1.5

0 -0 .5 -1 -1 .5 -2 0

0 .2

0 .4

0.6

0.8

1 tim (s) e

1.2

1.4

1 .6

1 .8

-2 0

0.2

0.4

0.6

0.8

1 1.2 tim e(s)

1.4

1.6

1.8

System R on esp se 2 1.5

R esidual r 2 1.5 1 0.5 rad/s 0 -0.5 -1 -1.5 -2 0

Fig. 4. Models adopted for the NCS when (a) structure 1 is used (b) structure 2 is used (c) structure 3 is used

(c)
rad/s

0.5 0 -0.5 -1 -1.5

5 CAN NETWORK PARAMETER EFFECTS

5.1 Introduction
TheCANnetworkisstudiedtoshowtheinfluenceof the network parameter packet losses on feedback control loop and diagnosis system with different structuresofNCS.Thechosenparametersare:[1] Thebitrateis1Mbits/s Theframesizeis8Bytes.

-2 0

0.2

0 .4

0 .6

0.8

1 1 .2 tim e(s)

1 .4

1 .6

1.8

0.2

0.4

0.6

0.8

1 1.2 tim e(s)

1.4

1.6

1.8

Fig. 5. Output

y and

residual

results of the regulation

application on the CAN network when NCS adopted structure is (a) structure 1 (b) structure 2 (c) structure 3

In the three cases, the outputs follow the references, thesystemsarestableandthediagnosissystemsare correctly functioning. Residuals are less than calculatedthresholds. Figures6showsthebehaviourofthesystemandthe diagnosis system where fault occurred at 0.8 s (step

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Syste R sp n m e o se 2 1 .5 1
2 1.5 1 0.5 rad/s 0 -0.5 R esidual r

signal with amplitude 0.1 rad/s) in the cases of the threestructuresoftheNCS. Inthethreecases,systemresponseswereaffectedby faultoccurrence. Residuals show the occurrence of fault at 0.8 s and exceedthecalculatedthreshold.
System R esponse 2 1.5 1
2 R esidual r 1.5 1

(b)
ra /s d

0 .5 0 -0 .5

-1

-1
-1.5

-1 .5 -2 0
-2 0 0.2 0.4 0.6 0.8 1 1.2 tim e(s) 1.4 1.6 1.8 2

0 .2

0 .4

0 .6

0.8

1 1 .2 tim (s) e

1 .4

1 .6

1 .8

S ystem R sp nse e o 2 1.5 1

R esidual r 2 1.5 1 0.5 rad/s 0 -0.5 -1 -1.5 -2 0

(a)
rad/s

0.5
rad/s

0.5 0 -0.5 -1

(c)
ra /s d
0.2 0.4 0.6 0.8 1 1.2 tim e(s) 1.4 1 .6 1.8 2

0.5 0 -0.5

0 -0.5 -1 -1.5 -2 0

-1
-1.5

-1.5
-2 0

0.2

0 .4

0.6

0.8

1 tim e(s)

1.2

1.4

1.6

1.8

-2 0

0.2

0 .4

0 .6

0 .8

1 tim (s) e

1.2

1 .4

1 .6

1.8

0.2

0.4

0.6

0.8

S yste R sp n m e o se 2 1 .5

1 1.2 tim e(s)

1.4

1.6

1.8

R esidual r 2 1.5 1 0.5 rad/s 0 -0.5

Fig. 7. Behaviour of output

and residual

when CAN network is

(b)
ra /s d

1 0 .5 0 -0 .5 -1

used with 10% of packet losses when NCS adopted structure is (a) structure 1 (b) structure 2 (c) structure 3

-1
-1 .5

-1.5
-2 0 0 .2 0 .4 0 .6 0 .8 1 tim (s) e 1 .2 1 .4 1 .6 1 .8 2

At 10% of packet losses and in presence of sensor fault f , behaviours of response y and residual
0.2 0.4 0.6 0.8 1 1.2 tim e(s)
R sid l r e ua

-2 0

1.4

1.6

1.8

r changedandarerepresentedinfigureFig.8.
SystemR sp n e o se

R esidual r 2 1.5 1 0.5 rad/s 0 -0.5 -1 -1.5

Syste R m espon se 2 1.5

2 1 .5

2 1 .5

(c)
ra d/s

1
1 0.5 0 -0.5 -1 -1.5 -2 0

0 .5
0 .5 rad/s 0 -0 .5

rad /s

(a)

0 -0 .5 -1

-1

-1 .5
-1 .5
0 .2 0.4 0 .6 0.8 1 tim e(s) 1.2 1 .4 1.6 1 .8 2

-2 0

-2 0
0.2 0.4 0 .6 0 .8 1 1 .2 tim e(s) 1 .4 1 .6 1 .8 2

0 .2

0 .4

0 .6

0.8

1 tim (s) e

1 .2

1 .4

1 .6

1.8

-2 0

0.2

0.4

0.6

0.8

1 1.2 tim e(s)

R esidual r

1.4

1.6

1.8

Fig. 6. Output

y and

residual

results of the regulation (b)

ra /s d

S yste R sp n m e o se 2 1 .5 1 0 .5 0 -0 .5 -1

2 1.5 1 0.5 rad/s

0 .2 0 .4 0 .6 0 .8 1 tim e(s) 1 .2 1 .4 1.6 1.8 2

application on the CAN network when NCS adopted structure is (a) structure 1 (b) structure 2 (c) structure 3, in the presence of sensor fault

0 -0.5 -1 -1.5 -2 0

5.3 Lost information by the CAN network

In this section, three percentages 10%, 20% and 30% ofpacketlossesareanalysedrespectively. Figure 7 displays the system response and the diagnosis system behaviour in the three different structures of NCS when the CAN network is assumedtobeaffectedby10%ofpacketlosses.
S yste R sp n m e o se 2 1 .5 1

-1 .5 -2 0

0.2

0.4

0.6

0.8

1 1.2 tim e(s)

1.4

1.6

1.8

S yste R sp n m e o se 2 1 .5

R esidual r 2 1.5 1 0.5 rad/s 0 -0.5 -1 -1.5 -2 0

(c)
ra d/s

1 0 .5 0 -0 .5 -1 -1 .5 -2 0

0 .2

0 .4

0 .6

0 .8

1 tim e(s)

1.2

1.4

1 .6

1 .8

0.2

0.4

0.6

0.8

1 1.2 tim e(s)

1.4

1.6

1.8

Fig. 8. Behaviour of output

and residual

when CAN network is

used with 10% of packet loses in the presence of sensor fault

when NCS adopted structure is (a) structure 1 (b) structure 2 (c) structure 3

R esidual r 2 1.5 1 0.5 rad/s 0 -0.5 -1 -1.5 -2 0

(a)
ra /s d

0 .5 0 -0 .5 -1 -1 .5 -2 0

0 .2

0 .4

0 .6

0 .8

1 tim (s) e

1 .2

1 .4

1 .6

1 .8

0.2

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1 1.2 tim e(s)

1.4

1.6

1.8

NCS with structure 3 present an overshot greater than 5%. Other experiences with a percentage of packetlossesgreaterthan10%showthatthesystem becomes unstable and the diagnosis system is incorrectly functioning. Simulations are thus carried out only with the two structures (structure 1 and structure2).

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System R sponse e 2

Figure 9 shows the behaviours of output

R esidual r 2 1.5 1 0.5 rad/s 0 -0.5 -1 -1.5 -2 0

y and
rad/s

1.5 1 0.5

residual r with20%ofpacketlosseswhenstructure 1ofNCSisadopted(a)andwhenstructure2ofNCS isadopted(b).Itshowsthatwithstructure1,wehave overshotgreaterthan5%forthesystemresponseand falsealarmforthediagnosissystem. With structure 2, the system is stable and the diagnosissystemiscorrectlyfunctioning.
SystemR esponse 2 1.5 1 0.5 rad/s
rad/s 2 1.5 1 0.5 0 -0.5 -1 -1.5 -2 0 R esidual r

(b)

0 -0.5 -1 -1.5 -2 0

0.2

0.4

0.6

0 .8

1 tim e(s)

1.2

1.4

1.6

1.8

0.2

0.4

0.6

0.8

1 1.2 tim e(s)

1.4

1.6

1.8

Fig. 10. Behaviour of output

and residual

when CAN

network is used with 30% of packet loses and the structure 2 of NCS is adopted (a) when no sensor fault (b) in the presence of sensor fault

6 SWITCHED ETHERNET NETWORK PARAMETER INFLUENCE

6.1 Introduction
The Switched Ethernet network is studied to show the influence of network on feedback control loop anddiagnosissysteminthethreecasesofstructures. Thechosenparametersare:[1] Thebitrateis100Mbits/s Theframesizeis64Bytes; Two cases are studied, at first the network is used withidealassumptions,andthenthenetworkisused withlossespacket(information). In all cases, we assume that the congestion does not generate the drop packets. This simulates situation where the buffers in network devices are well dimensioned.

(a)

0 -0.5 -1 -1.5 -2 0

0.2

0.4

0.6

0.8

1 1.2 tim e(s)

1.4

1.6

1.8

0.2

0.4

0.6

0.8

1 1.2 tim e(s)

1.4

1.6

1.8

SystemR esponse 2 1.5 1 0.5 rad/s

rad/s 2 1.5 1 0.5 0 -0.5 -1 -1.5 -2 0

R esidual r

(b)

0 -0.5 -1 -1.5 -2 0

0.2

0.4

0.6

0.8

1 1.2 tim e(s)

1.4

1.6

1.8

0.2

0.4

0.6

0.8

1 1.2 tim e(s)

1.4

1.6

1.8

Fig. 9. Behaviour of output

and residual

when CAN network is

used with 20% of packet losses when NCS adopted structure is (a) structure 1 (b) structure 2 (c) structure 3

When we consider only structure 2, figure 10 shows the behaviour of the residual and the system response at 30% of packet losses with and without sensorfault. The system is stable and the diagnosis system is correctlyfunctioning.
System R sponse e 2 1.5 1 0.5 rad/s 0 -0.5 -1 -1.5 -2 0

6.2 Switched Ethernet network with ideal assumptions

Firstly,thesystemissimulatedintheidealcase.Thus the network introduces no packet losses and the delay depends only on the traffic generated by the realtimesystem.Thereforethenetworkisnotshared withotherapplications. Figure 11 shows the behaviour of the system with Switched Ethernet network according to the three structuresoftheNCS.
S yste R sp n m e o se 2

R esidual r 2 1.5 1 0.5 rad/s 0 -0.5 -1 -1.5

(a)

R esidu r al 2 1 .5 1 0 .5 rad/s 0 -0 .5 -1

1 .5 1

0.2

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1 tim e(s)

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ra /s d

(a)

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-1 .5
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-2 0

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1 1 .2 tim e(s)

1.4

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1 .8

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S ystem R o esp nse 2 1 .5 1
2 1 .5 1 0 .5 rad/s 0 -0 .5 -1 -1 .5 -2 0 R sid l r e ua

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System R espo nse 2 1 .5

R esidual r 2 1.5 1 0.5 rad/s 0 -0.5

(b)
ra /s d

1 0 .5 0 -0 .5 -1

rad /s

(b)

0 .5 0 -0 .5 -1 -1 .5 -2 0

-1
-1 .5

-1.5
0.2 0 .4 0.6 0 .8 1 tim (s) e 1.2 1 .4 1 .6 1 .8 2
0 .2 0 .4 0.6 0 .8 1 1.2 tim (s) e 1 .4 1.6 1.8 2

-2 0

0.2

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1 tim e(s)

1 .2

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1 1.2 tim e(s)

1.4

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S ystem R o esp nse 2 1 .5 1

R sid l r e ua 2

S ystemR sp se e on 2

R esidual r 2 1.5 1 0.5 rad/s 0 -0.5 -1 -1.5 -2 0

1 .5

1 .5
1 0 .5 rad/s 0

ra /s d

(c)

0 .5 0 -0 .5 -1 -1 .5 -2 0

(c)
ra /s d
0 .2 0 .4 0.6 0 .8 1 1.2 tim (s) e 1 .4 1.6 1.8 2

1 0 .5 0 -0 .5 -1 -1 .5 -2 0

-0 .5 -1 -1 .5 -2 0

0.2

0 .4

0.6

0 .8

1 tim (s) e

1.2

1 .4

1 .6

1 .8

Fig. 11. Output

y and

residual

0 .2

0 .4

0 .6

0 .8

results of the regulation Fig. 12. Output

1 tim (s) e

1 .2

1 .4

1 .6

1 .8

0.2

0.4

0.6

0.8

1 1.2 tim e(s)

1.4

1.6

1.8

application on the Switched Ethernet network when NCS adopted structure is (a) structure 1 (b) structure 2 (c) structure 3

y and

residual

results of the regulation

In the three cases, the outputs follow the references, thesystemsarestableandthediagnosissystemsare correctly functioning. Residuals are less than calculatedthresholds. Figure12showsthebehaviourofthesystemandthe diagnosis system where fault occurred at 0.8 s (step signal with amplitude 0.1 rad/s) in the cases of the threestructuresoftheNCS. Inthethreecases,systemresponseswereaffectedby faultoccurrence. Residuals show the occurrence of fault at 0.8 s and exceedthecalculatedthreshold.
Syste R sp n m e o se 2 1 .5 1

application on the Switched Ethernet network when NCS adopted structure is (a) structure 1 (b) structure 2 (c) structure 3, in the presence of sensor fault

6.3 Lost information by the Switched Ethernet network

In this section, three percentages 10%, 20% and 30% ofpacketlossesareanalysed. Figure 13 displays the system response and the diagnosis system behaviour in the three different structures of NCS when the Switched Ethernet network is assumed to be affected by 10% of packet losses.
(a)
ra /s d S yste R sp n m e o se 2 1 .5 1 0 .5 0 -0 .5

R esidual r 2 1.5 1 0.5 rad/s 0 -0.5

R esidual r 2 1.5 1 0.5 rad/s 0 -0.5 -1 -1.5 -2 0

(a)
ra /s d

0 .5 0 -0 .5 -1 -1 .5 -2 0

-1

-1
-1 .5

-1.5
-2 0 0 .2 0 .4 0 .6 0 .8 1 tim (s) e 1 .2 1 .4 1 .6 1 .8 2

-2 0

0.2

0.4

0.6

0.8

0 .2

0 .4

0 .6

0 .8

1 tim (s) e

1 .2

1 .4

1 .6

1 .8

0.2

0.4

0.6

0.8

1 1.2 tim e(s)

1.4

1.6

1.8

1 1.2 tim e(s)

1.4

1.6

1.8

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R esidual r

rad/s

rad/s

(b)

System R esponse 2 1.5 1 0.5 0 -0.5

2 1.5 1 0.5 0 -0.5

-1

-1
-1.5

-1.5
-2 0 0 .2 0.4 0.6 0.8 1 tim e(s) 1.2 1 .4 1.6 1 .8 2

-2 0

0.2

0.4

0.6

0.8

1 1.2 tim e(s)

R esidual r

1.4

1.6

1.8

1ofNCSisadopted(a)andwhenstructure2ofNCS isadopted(b).Itshowsthatwithstructure1,wehave overshotgreaterthan5%forthesystemresponseand falsealarmforthediagnosissystem. With structure 2, the system is stable and the diagnosissystemiscorrectlyfunctioning.
Syste R m espo nse 2 1.5 1 0.5 ra d/s
rad /s 2 1.5 1 0.5 0 -0.5 -1 R esidual r

rad/s

0 -0.5 -1 -1.5 -2 0

rad/s

(c)

System R esponse 2 1.5 1 0.5

2 1.5 1 0.5 0 -0.5

(a)

0 -0.5 -1

-1
-1.5

-1.5

-1.5 -2 0
-2 0 0.2 0 .4 0.6 0 .8 1 tim (s) e 1.2 1 .4 1.6 1 .8 2

-2 0

0.2

0.4

0.6

0.8

1 tim e(s)

1.2

1.4

1 .6

1.8

0 .2

0.4

0.6

0.8

1 1.2 tim e(s)

1 .4

1.6

1 .8

0.2

0.4

0.6

0.8

1 1.2 tim e(s)

1.4

1.6

1.8

2
2 1.5 1 0.5 rad /s

Syste R m espo nse

R esidual r 2 1.5 1 0.5 rad/s 0 -0.5 -1 -1.5 -2 0

Fig. 13. Behaviour of output

y and residual r when Switched

(b)

Ethernet network is used with 10% of packet losses when NCS adoptedstructureis(a)structure1(b)structure2(c)structure3

0 -0.5 -1 -1.5 -2 0

At 10% of packet losses and in presence of sensor fault f , behaviours of response y and residual

0.2

0 .4

0.6

0 .8

1 tim (s) e

1.2

1 .4

1.6

1 .8

0.2

0.4

0.6

0.8

1 1.2 tim e(s)

1.4

1.6

1.8

r changedandarerepresentedinfigureFig.14.
S yste R sp se m e on 2 1 .5 1 0 .5 ra d/s 0 -0 .5 -1 -1 .5 -2 0

Fig. 15. Behaviour of output

and residual

when Switched

R esidu r al 2 1.5 1 0.5 rad/s 0 -0.5 -1 -1.5 -2 0

Ethernet network is used with 20% of packet losses when NCS adopted structure is (a) structure 1 (b) structure 2 (c) structure 3

(a)

0 .2

0.4

0.6

0 .8

1 tim e(s)

1.2

1 .4

1 .6

1 .8

0.2

0.4

0 .6

0.8

1 1 .2 tim (s) e
R ual r esid

1.4

1 .6

1.8

S yste R sp se m e on 2 1 .5 1 0 .5 ra /s d 0 -0 .5 -1 -1 .5 -2 0

2 1 .5 1 0 .5 rad/s 0 -0 .5 -1 -1 .5 -2 0

(b)

When we consider only structure 2, figure 16 shows the behaviour of the residual and the system response at 30% of packet losses with and without sensorfault. The system is stable and the diagnosis system is correctlyfunctioning.
Syste R spo se m e n 2 1 .5 1 0 .5

R esidual r 2 1.5 1 0.5 rad/s 0 -0.5 -1 -1.5 -2 0

0 .2

0.4

0.6

0 .8

1 1.2 tim (s) e

1 .4

1 .6

1.8

(a)

ra /s d

0 .2

0.4

0.6

0 .8

1 tim e(s)

1.2

1 .4

1 .6

1 .8

0 -0 .5 -1

S yste R sp se m e on 2 1 .5

R esidu r al 2 1.5

(c)
ra /s d

1 0 .5

-1 .5
1 0.5 rad/s 0

-2 0

0 .2

0.4

0.6

0 .8

1 tim e(s)

1 .2

1 .4

1 .6

1.8

0.2

0.4

0.6

0.8

0 -0 .5

1 1.2 tim e(s) R esidual r

1.4

1.6

1.8

Syste R spo se m e n
-0.5

2 1 .5 1 0 .5
0.2 0.4 0 .6 0.8

2 1.5 1 0.5 rad/s

0 .2 0.4 0.6 0 .8 1 tim e(s) 1 .2 1 .4 1 .6 1.8 2

-1

-1
-1 .5

-1.5
-2 0 0 .2 0.4 0.6 0 .8 1 tim e(s) 1.2 1 .4 1 .6 1 .8 2

-2 0

Fig. 14. Behaviour of output of sensor fault

and residual

when Switched

(b)

ra /s d

1 1 .2 tim (s) e

1.4

1 .6

1.8

0 -0 .5 -1 -1 .5

0 -0.5 -1 -1.5 -2 0

Ethernet network is used with 10% of packet loses in the presence

when NCS adopted structure is (a) structure 1 (b)

-2 0

0.2

0.4

0.6

0.8

structure 2 (c) structure 3

1 1.2 tim e(s)

1.4

1.6

1.8

Fig. 16. Behaviour of output

and residual

when Switched

NCS with structure 3 present an overshot greater than 5%. Other experiences with a percentage of packetlossesgreaterthan10%showthatthesystem becomes unstable and the diagnosis system is incorrectly functioning. Simulations are thus carried out only with the two structures (structure 1 and structure2). Figure 15 shows the behaviours of output y and residual r with20%ofpacketlosseswhenstructure

Ethernet network is used with 30% of packet loses and the structure 2 of NCS is adopted (a) when no sensor fault (b) in the presence of sensor fault

7 RESULTS INTERPRETATION
In the two cases of network (CAN and Switched Ethernet),thedifferencebetweenthethreestructures adopted is the link of the network, with the controller, actuator, diagnosis system and sensor.

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Results show that the system according to the structure3isverysensitivetoofpacketlosses(lossof performance from 10% of packet losses). Structure 1 gives acceptable performance up to 20% of packet losses.Beyondthislevel,onlystructure2cankeepa good performance for the diagnosis system. This is explained by the arrangement of the sensor relative to the network, the fact that these components are connectedtothenetwork,increasesthesensitivityof theglobalsystemtothepacketlosses,thisisthecase of structure 3 where all nodes are connected to the network. In structure2,thelossesaffectonlythesignaltothe actuator from the network, which explains its performance. For the structure 1, packet losses affect sensor, controller and diagnosis system signals which make itlessrobusttopacketlossesthanthelatter.

8 CONCLUSION
Inthisarticle,theeffectofpacketlossesontheNCSis investigated for different NCS structures and with two different networks (CAN and Switched Ethernet). Three structures were considered to demonstrate NCS sensitivity to packet losses. This study has shown that the structure of NCS has an effectonpacketlossessensitivityinthetwocasesof networks. Structure3, despite its sensitivity to packet losses, is the most standardized and widely used as an NCS structure. The fact that all system components communicate across the network, provide a better flexibilityofimplementation,useandmaintenance. In future work, remedies effects of packet losses on thediagnosissystemofNCSwithstructure3willbe studied and other networks will be used for performancecomparison.

9 REFERENCES
[1] B. Brahimi and all, Comparison between NCS behavior based on CAN and Switched Ethernet networks, 2nd NeCST: Networked control system tolerant to fault workshop, Calabria,October2006. [2] B.Brahimi,anintegratedapproachbasedon Petri nets to model and evaluate networked control systems. PhD in automatic signal processing, computer engineering from University Henri Poincare Nancy I, December2007.

[3] R. Ghostine, Influence of transient faults in thereliabilityofanetworkedcontrolsystem. PhD in automatic signal processing, computerengineeringfromUniversityHenri PoincareNancyI,June2008. [4] D. Henriksson and all, TrueTime : Simulation of Control Loops under Shared Computer Resources,15th Triennial World Congress,IFAC,Barcelona,Spain,2002. [5] D.Henriksson and all, TrueTime: RealTime Control System Simulation with Matlab/Simulink, In Proc. Of the Nordic MATLAB Conference, Copenhagen, Denmark,October2003. [6] M. Ohlin and all, TrueTime 1.5 Reference Manual, Department of Automatic Control, LundUniversity,January2007. [7] C. Berbra, Diagnosis of a networked embedded system. Application to a mini drone helicopter. PhD in automation. PolytechnicinstituteofGrenoble,November 2009. [8] JP.Georges and all, Conforting the performances of switched Ethernet network with industrial constraints by using the network calculus. International Journal of Communicationsystems2005,18:877903. [9] P Georges, Networked Control System: Evaluation of Switched Ethernet architecture, PhD from university Henri Poincare,Nancy1,4November2005. [10] K. Astorm and all, PID controllers: Theory Design and Tuning, 2nd edition, copyright 1995byInstrumentSocietyofAmerica. [11] Y. Wang, Residual generation and evaluation of networked control systems subject to random packet dropout, Automatica 45 (2009) 24272434, Science direct. [12] A. Mokhtari, Diagnosing hybrid systems: development of a method involving detection and classification by dynamic simulation, PhD from the National Institute of Applied Sciences of Toulouse, October 2007. [13] C. Berbra and all, Codesign for a safe networked control DC motor, 3rd IFAC WorkshopNECST,Nancy,France,2007. [14] H. Fang, Fault diagnosis of networked control systems, Annual reviews in control 31(2007)5568,ScienceDirect. [15] D. Ragloukis, Detection and localization of sensorsandactuatorsfaults:applicationtoa non linear system. PhD in automation,

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University of Toulouse III Paul Sabatier, November2008. [16] M. Rivoire and all, Matlab Simulink State flow with resolved exercises of automatic, TechnipEdition,2001. [17] D. Camille, during embedded communication Systems: CAN network, masterEEA,20012002,France. [18] R. V. Rodriguez, Networkinduced delay models for CANbased Networked Control Systems evaluation, Thesis of automation from Institute of technology of Monterey, December2007.

He is an assistant in the Higher Institute of Technological Studies of Gabes (south of Tunisia) since 2008 and he had exercised at the Higher Institute of Technological Studies of Rades (north of Tunisia) and the Higher Institute of Technological Studies of Kairouan (central of Tunisia) from 1996 to 2003 and 2004 to 2008, respectively. His current research for doctoral degree deals with the diagnosis of the networked control system. He has authored 3 papers in the field in international conferences. His PHD thesis is prepared in the research unit MACS of the University of Gabes (Tunisia) and the research center CReSTIC of the university of Reims champagne ardenne (France). Saloua Bel Hadj Ali Naoui received the engineering degree in electrical engeneering, the degree of aggregation and the PHD degree from the Engineering National School of Tunis, Tunisia, in 1995, 2000 and 2003, respectively. She is an assistant professor at the Engineering National School of Gabes, Tunisia. She has authored or co-authored many papers in the field of electrical engineering Lissan-Eddine Afilal is a Professor at the University of Reims Champagne ardenne, France. He has authored or co-authored many papers in the field of electrical engineering. Mohamed Naceur Abdelkrim is a Professor at the University of Gabes, Tunisia. He has authored or co-authored many papers in the field of electrical engineering.

Adel Naoui received the engineering degree in computer science, the certificate of postgraduate studies in computer science (option computer science in industrial systems), and the degree of aggregation from the Tunisian National School of Computer Sciences, Tunis, Tunisia, in 1993, 1995 and 1996, respectively.