International Journal of Engineering and Advanced Technology (IJEAT)

ISSN: 2249 – 8958, Volume-9 Issue-4, April, 2020

An Effective and Active Bandwidth Distribution in

Networked Control Systems
M.Sundar Rajan, Abraham Mesfin, Satenaw Sando

Abstract: Networked Control System (NCS) is a method A series of questions has been aroused by introducing the
composed of physically shared smart devices that can observe the network especially the network-induced delay, so the
surroundings, work on it, and converse with one another by control performance has affected seriously [1]. With the
means of a communication system to attain a widespread developing
purpose. Characteristic examples that fall into this section are
need for shared system and the improvement in the size of
Wireless Sensors and Actuators Networks (WSANs) for
ecological analyzing and checking, multi-vehicle systems for the applications, a conventional networked control
composed investigation, camera systems for observation, multi- systems(NCS) through wired correspondence systems to
camera facilitated movement catch, shrewd lattices for vitality transmit the reports among conveying obstructs in the shut
circulation and the executives, and so forth. NCSs changes from circle control system presents limitations. The utilization of
increasingly customary control systems as a result of their remote correspondence systems gives significant advantages
interdisciplinary which needs the combination of control over their wired partners, which prompts discounted cost
hypothesis, correspondences, software engineering and and solid system structures by lessening the cost of the
programming designing. Plenty of communication modes are establishment, change, and improve the system segments
available from telephone lines, cell phone networks, satellite
contrasted with their wired partner. This control system
networks and most widely used is internet. The choice of network
depends upon the application to be served. Internet is the most design is referred to as a remote NCS wherein the sensor
suitable and inexpensive choice for many applications where the and actuator speak with the controller by methods for a
plant and the controller are far from each other. The troubles remote system. WNCS has been drawing the rising
present in the structure of control systems that are solid to examination consideration and has been distinguishing a few
correspondence parameters like transfer speed, arbitrary deferral applications in brilliant network, astute checking, and
and packet loss, to computational parameters in light of the creating computerization. With its common advantages,
tremendous amount of information to be handled or to the WNCS encourages prospects on the assembling business
mutual idea of the detecting and control to ongoing execution on [2]. Despite the fact that the Wireless Network Control
limited resources and due to the unpredictability to the huge
System offers more focal points contrasted and the regular
number of untrustworthy agent present. With the limited measure
of data transmission accessible, it is improved to use it ideally and wired NCS, it is likewise unsurprising that the Wireless
proficiently. This further raises the requirement for need choices Network Control System is more helpless than wired
issue for controlling a series of actuators for a progression of Wireless Network Control System because of its normal
tasks. The proposed methodology deals broadly made in two "transparency" conduct from the remote system. The
distinct directions. The first direction aims at a control theoretical correspondence system plan for a Wireless Network Control
analysis while considering the network as a constant parameter System requires guaranteeing the working and strength of
like special controllers and altering the sampling rate. The the control system, with the constrained battery assets of
second direction aims the design of new communication network sensor hubs, despite the fact that the anomaly of remote
infrastructures, algorithms or protocols like designing static and
transmissions and the common wireless medium
dynamic message scheduling algorithms. This method combines
both directions and depends on the well- recognized results in [4].Comparing with the traditional control system, NCS has
both communication networks and control theory. a few advantages including: less wiring, marked down cost,
Keywords: Networked Control System (NCS), Controllers, and greater adaptability and practicality of the model. Thus,
Wireless Sensor and Actuator Network (WSAN), Random delay, NCS have been used comprehensively in the ongoing years
Bandwidth, Protocols. in different spaces as like: modern control, process control,
designing systems, aviation system, intelligent system,
I. INTRODUCTION smaller scale networks, and teleoperation, to make reference
to a couple. On the other hand, it changes out that the
A networked control system (NCS) is a generally closed-
expansion of systems in dynamical system make new
loop control system with complete communication network
troubles to the whole system because of the development of
and remote control system and sensors, actuators and
anomalies. These include quantization mistakes, evolving
controller signals transmitted over the network.
delays, dropouts, and so on. The shortcoming basically
Revised Manuscript Received on April 25, 2020. influence the exercises of the NCS by diminishing the
* Correspondence Author working or creating insecurity. It is consequently basic to
Dr. M. Sundar Rajan*, Associate Professor, Department of Industrial develop a proper unique portrayal of the NCS and plan
Control and Instrumentation, Faculty of Electrical and Computer
Engineering, Institute of Technology, Arbaminch University, Ethiopia. successful controllers that accomplish stability under these
Email: msundarrajan84@gmail.com conditions [5].
Abraham Mesfin, Lecturer, Department of Industrial Control and
Instrumentation, Faculty of Electrical and Computer Engineering, Institute
of Technology, Arbaminch University, Ethiopia.
Satenaw Sando, Lecturer, Department of Computer Engineering,
Faculty of Electrical and Computer Engineering, Institute of Technology,
Arbaminch University, Ethiopia.

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DOI: 10.35940/ijeat.D8983.049420 2150 & Sciences Publication
 An Effective and Active Bandwidth Distribution in Networked Control Systems

II. SYSTEM DESCRIPTION C. Utility Function of NCS

A. System Configuration Exactly when the when is discretized by strategies for a
couple of testing rates to execute a modernized controller
An automotive control system comprises of a lot of devices
over a system or PC, the control system response to
that control at least one elements of the vehicle, for
dissipates diminishes appeared differently in relation to the
example, an electronic brake.
steady shut circle type. The level of degradation relies upon
Current car control systems are networked control
the testing rate. To perceive the effect of inspecting rate on
system(NCS) as appeared in Fig 1. A normal NCS contains
the disarray excusable capacity of a mechanized controller,
the accompanying parts: Sensors to gain data from the
we expect the RMS extent of the discrete time system plant
physical condition. Actuators to play out the control orders.
state and its incessant time supplement. Typically,
Controllers to give decision and orders. Correspondence
upgrading the inspecting rate will reduce the RMS of the
organize for data trade between sensors, controllers and
structure's discrete plant state, where the industrious time
actuators. In a NCS, control and input signals are traded
system begins the lower bound of the RMS starts the lower
among the diverse system segments as data package through
bound of the RMS [6].
the communication network [9].

Fig 1. Network Control System

B. Bandwidth Requirement Submission
The inputs are sampled with sensors and then transferred to Fig 3. NCS for Utility Function
the controller by means of communication network. The Authoritatively, how about we consider that the traffic from
outputs of the controller are transferred to the plant by the controller to the plant has indistinguishable information
means of network and then the closed-loop control is carried way from the traffic from the plant to the controller. At that
out by actuators. For the time being, the controller outputs point a computerized control framework f with test size
are also dispatched to the scheduler as a basis for bandwidth pocket size and test time Ts will make a two way stream
assignment of communication network and sampling period pace of pf = 2 × pocket size/Ts to the system. We proclaim
decision of control system[12]. the utility capacity of framework f as a component of rate pf
as beneath.
𝑅𝑀𝑆𝑐𝑜𝑛𝑡𝑖𝑛𝑢𝑜𝑢𝑠
𝑈𝑓 (𝑝𝑓 ) = (1)
𝑅𝑀𝑆𝑑𝑖𝑠𝑐𝑟𝑒𝑡𝑒 (1/𝑇𝑠)

Basically, the utility limit is made by taking a gander at the

working of the discrete-time system with the consistent time
structure. Using the persevering time control structure, we
pick the limit of the control system to forgo disperses as
redundant sound. We by then advancement to copy an
Fig 2. Information flow equivalent system when a propelled use of the controller is
The network congestion state is composed by scheduler. used. This propelled execution relies upon the picked
Then, the scheduler assigns the bandwidth for all channel reviewing rate. Figure 2 is utility limit is basically picked by
depending on congestion state of network. In short, the the measure of defilement of the structure response to
scheduler method obtains QoS and QoP into account at the repetitive noise to the closed loop system. [11].To approve
same time which can recognize control and scheduling code our utility capacity definition, we accept the accompanying
sign of NCS. In this sense, the NCS can be separated into single-input-single yield (SISO) direct time invariant (LTI)
control subsystem and network subsystem[8].Information framework, with no loss of sweeping statement and for ease.
flow is displayed as shown in Figure 2. The flow of
information in network control system in the sensor controls
the network and control bandwidth assignment. Delivery
time is stable, bandwidth assignment control the packet and
hence it is safe and performs good.

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DOI: 10.35940/ijeat.D8983.049420 2151 & Sciences Publication
 International Journal of Engineering and Advanced Technology (IJEAT)
ISSN: 2249 – 8958, Volume-9 Issue-4, April, 2020

III. MECHANISM DESIGN CONCEPTS IN set of networked control loops, a given parameter on the
BANDWIDTH ASSIGNMENT bandwidth usage factor should be kept (7), where Bg, the
global bandwidth utilization factor , can be either the total
1. State-space Models Extending
existing bandwidth or a desired portion.
If we extend the state vector of all system (2) with a new 𝑛
𝑖=1 . 𝑏𝑖,𝑛 ≤ 𝐵𝑔 (8)
state variable b aimed at describing the bandwidth
management dynamics, the new process can be modelled by For all control loop, we declare that at all closed loop
𝑥𝑛 +1 function, the next sampling period hn+1 bandwidth is a
∅(𝑕) 𝛼 𝑥𝑛 𝛤(𝑕)
𝑏𝑛 +1 = + 𝑢𝑛 (2) function of the exponential of the original state variables 𝑥𝑛 .
𝛽 𝛾 𝑏𝑛 𝛿
It considers both the current and global bandwidth
α, β, γ ,δ-matrices dimension utilization factors, Bc and Bg (8)
𝑚
𝐵𝑎 = 𝐵𝑔 − 𝐵𝑐 − = 𝐵𝑔 − 𝐵𝑐 − 𝑏𝑛 (9)
𝑕𝑛
𝑥𝑛 - original state variables
bandwidth Ba can be calculated as in equation (9) and
𝑏𝑛 - dynamics bandwidth management
shortest possible sampling period 𝑕𝑠𝑕𝑜𝑟𝑡 that can be
lattices measurement to be indicated, which will decide the
allocated to a control loop is mentioned by (10).
connection of the transfer speed the board elements b n with 𝑚
the first state factors xn, as further point by point in (3) and 𝑕𝑠𝑕𝑜𝑟𝑡 = 𝑛 (10)
𝐵𝑎
(4) separately.
𝑥𝑛+1 = 𝛷 𝑕 𝑥𝑛 + 𝛼𝑏𝑛 + 𝛤 𝑕 𝑢𝑛 (3) The next sampling period can be computed in Equation (11),
𝑕𝑙𝑜𝑛𝑔 and c are the longest feasible period and the
𝑏𝑛+1 = 𝛽𝑥𝑛 + 𝛾𝑏𝑛 + 𝛿𝑢𝑛 (4) criticalness, both to be defined for all control loop. The
criticalness decides how quick a control loop will rise or
The un(input) is given by a new state feedback gain L = reduce its period as per the error. More values for c will give
𝑙𝑥 , 𝑙𝑏 (as in (5)) designed according to (2), the extended more rapid changes in the sampling period.
model for the closed-loop system dynamics can be given by 𝑕𝑛+1 = (𝑕𝑙𝑜𝑛𝑔 − 𝑕𝑠𝑕𝑜𝑟𝑡 ) 𝑒 −𝑐|𝑥 𝑛 | + 𝑕𝑠𝑕𝑜𝑟𝑡 (11)
(4) and (5).
𝑥𝑛 we get the model denoted in (12), where hl stands for 𝑕𝑙𝑜𝑛𝑔
𝑢𝑛 = 𝑙𝑥 , 𝑙𝑏 (5)
𝑏𝑛 and hs for 𝑕𝑠𝑕𝑜𝑟𝑡 . Note that (12) is nonlinear.
𝑥𝑛+1 𝛷(𝑕). 𝑥𝑛 𝛤(𝑕)
2. Customization of Model 𝑕𝑛 +1 = (𝑕𝑙 − 𝑕𝑠 ) 𝑒 −𝑐|𝑥 𝑛 | + 𝑕𝑠 + 0 𝑢𝑛 (12)
The last model (2) will allow every control loop
configuration to obtain at all execution bn+1, its next Therefore, the usage of the extended model needs the use of
sampling period requirements.(bandwidth) nonlinear control design techniques[10].
𝑥𝑛 +1 ∅(𝑕) 0 𝑥𝑛 𝛤(𝑕) 4. Auctions
𝑏𝑛 +1 = 𝛽 𝛾 𝑏𝑛
+
0
𝑢𝑛 (6)
Since all specialists need to battle for a limited transmission
capacity, correspondences between these battling operators
𝛼 ≃ 0, the dynamics of the original system are being
in a similar system can be demonstrated and depicted in a
modified. 𝛿 ≃ 0, shut circle arrangement will be given by game-theoretic model. In this model, these specialists are
the state input control, will influence the development of 𝑏𝑛 . estimated to be the players of a game, where all operator
Assume 𝛼 = 0 , 𝛿 = 0 𝛽 = 0 and 𝛾 = 0, then, for all n, bn+1 needs to pay a measure of cash to get transmission capacity
= bn . That is, no dynamics are mentioned on the network with identified with its interest in a sale with different
bandwidth(equ (4)). 𝛽 = 0 and 𝛾< 1, where _(·) is the specialists during the task time frame TA. Our methodology
spectral radius, bandwidth will reduce at all iteration, needs that this sale is halfway directed by a passage.
tending towards 0, thus creating a system with no Regularly, run of the mill procedure for an operator to offer
bandwidth, which makes no sense. for a system data transfer capacity in a closeout are:
𝛽 = 0 and 𝛾 > 1, bandwidth will grows at all iteration, 1. A specialist present a cost according to its data
changing towards ∞, thus creating a system with infinite transmission requests.
bandwidth, which is not realistic eventhough the expanded 2. The passage doles out data transfer capacities and
model (6) is flexible enough to specify different types of tells all operators about the transmission capacities
dynamics, if any linear combination of _ and does not that will be determined.
satisfy the desired dynamics for the bandwidth management 3. The operator pays for the predefined data transfer
(new state variable), we can use nonlinear relations at the capacity.
expenses of slightly increasing the complexity of the design Regularly, all specialists doesn't have to pay for an
of the control law, as we explain next[7]. overpricing data transfer capacity. Subsequently, in a sale,
3.Dynamics Management of Bandwidth Specification all specialists are to anticipate other operators' plays and
For all control loop, the bigger the error in Equation (7), the select its own installment to expand its own benefit. In our
higher the bandwidth 𝑏𝑖,𝑛 to be allocated. methodology, all specialists fundamentally given a similar
𝑒𝑖 = |𝑥𝑖 , 𝑛| (7) measure of cash, which is the
most significant expense that

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 An Effective and Active Bandwidth Distribution in Networked Control Systems

an operator can pay. All specialists has an option to with its normal affectability in Table 1(Figure 5) without
especially conclude how to utilize this cash in a task period thinking about the activities of different specialists.
TA and the measure of cash will be reset to w at the Regardless of whether the particularized introduction of a
initiation of the following task period[6]. specialist in not many periods might be more, the all-out
presentation contrasted with different systems may not be
V. SIMULATION RESULTS acceptable as shown in Table 3(Figure 9).

Table 2 Sensitivity Optimizing Auction-Based Dynamic

Bandwidth Assignment
Agents First period Second Third
period period
1 0.0323 0.0153 0.0150
0.0315 0.0131 0.0174
0.0224 0.0101 0.0544
0.0359 0.0109 0.0165
2 0.0584 0.0124 0.0585
0.0441 0.0096 0.0354
0.0176 0.0069 0.0146
Fig.4 Simulation Model 0.0364 0.0094 0.0368
3 0.0142 0.0006 0.0143
MATLAB/SIMULINK is used for the simulation is
0.0216 0.0004 0.0171
dynamics bandwidth assignment to describe the proposed
0.2300 0.0045 0.0544
technique and check its efficiency. The simulation has 3
0.0165 0.0001 0.0165
NCS, consists of 3 control agents and three motor plants
with three control agents in a single wireless network with
the bandwidth of 38,400 bits/s. In this simulation TO=0.40s,
TS=0.004s, TP=0.02s and the remaining of TO is TT. The Agent-1
assignment period TA is very small compared to TS so that 0.06
TA can be considered to be zero. The entire system setting First period
is shown in Figure 4. In this simulation a reference signal 0.04
rk(t) will be deferred by sk according to the given bandwidth
xk and a scheduling algorithm utilized[8.] Second
0.02 period
Table 1. Agent Average sensitivity
0 Third period
Agents First period Second Third
period period 0 1 2 3 4 5
1 1.99 1.41 1.41
2 2.74 1.59 2.74
Fig.6 Agent-1
3 1.4 1.19 1.4
Table 2 is particularized execution estimates rises when
operators are given little amount of transfer speeds. The
Agent Average sensitivity equivalent data transfer capacity task technique consistently
doles out an equivalent transmission capacity to all
3 specialists. Consequently, not many operators are given
2.5 unnecessary transfer speed contrasted with others. A
2 particularized exhibition measure all operators is shown in
First period Figure 6, 7, 8.
1.5
1 Second period
0.5 Third period
0
1 2 3

Fig 5. Agent Average sensitivity

From above table 1 is Operator Average affectability, a little
data transfer capacity is likely important to send the
suggestion for the specialist 3. Consequently, the absolute
execution case is genuinely most exceedingly awful. With
the task dependent on affectability component, an operator
is given a relegated transmission capacity with identified

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DOI: 10.35940/ijeat.D8983.049420 2153 & Sciences Publication
 International Journal of Engineering and Advanced Technology (IJEAT)
ISSN: 2249 – 8958, Volume-9 Issue-4, April, 2020

Agent 2 0.3
0.25
0.08 0.2
First period 0.15
0.06 0.1
0.05 First period
0.04 Second 0 Second period
0.02 period
Third period
0 Third period
0 2 4 6

Fig.7 Agent-2 Fig.9 Entire performance measures in 3 assignment

periods
0.25 The total performance is superior than the functioning in the
earlier simulation because of some noises. The values are
0.2 tabulated in table 4. Conversely, the auction-based dynamic
First period
assignment still offers the good performances between other
0.15
schemes as per the simulation outputs.
Second Table 4. all agents Entire performance measures in three
0.1
period assignment time intervals
0.05 Third period Assignment First Second Third
method period period period
0 Equal
0 2 4 6 bandwidth 0.1051 0.0640 0.1109
assignment
Optimizing
Fig.8 Agent-3 0.2588 0.0604 0.1863
utilities
Even if the particularized performance of an agent in few Sensitivity
time duration may be more, the total performance is based 0.1104 0.0556 0.1101
analyzed with the other methods and are not be most assignment
favorable as shown in Table 3(Figure 9). Auction-based
Table 3. Entire performance measures in 3 assignment dynamic 0.0989 0.0454 0.1084
periods assignment
Assignment First Second Third
method period period period
Equal 0.3
0.0918 0.25
bandwidth 0.1049 0.0305 0.2
assignment 0.15
Optimizing 0.1 First period
0.2710 0.0209 0.1254 0.05
utilities
0 Second period
Sensitivity
based 0.0972 0.0242 0.0719 Third period
assignment
Auction-based
dynamic 0.0908 0.0221 0.0718
assignment
Fig.10 All Agents Entire Performance Measures

VI. CONCLUSION
This paper proposes an auction-based dynamic assignment
methods to assign bandwidth for open-loop NCS. Average
output sensitivities of NCS is utilized to denote bandwidth
necessity in the mode of an utility function. The suggested
method produces proof that real bandwidth requirement is
the major plan and the surpass bandwidth necessity cannot
offer the advanced utility than the real bandwidth necessity,
even though the assigned
bandwidth of over request is

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 An Effective and Active Bandwidth Distribution in Networked Control Systems

more than assigned bandwidth of real strategy. This system of professional organizations such as IEEE, IAENG, IACSIT, SDIWC,
SMIRED and Editorial Member for several International Journals. His
calculate the entire performance all 3 agents and Entire
research areas include Control Systems, Wireless Sensor Networks and
performance measures in 3 assignment periods, Average Image Processing.
sensitivity, Sensitivity Optimizing Auction-Based Dynamic
Bandwidth Assignment. NCSs have been widespread and Abraham Mesfin was born in Addis Ababa,
Ethiopia, in 1988. He received the B.Sc. degree in
widely applied for several years due to their various benefits
Electrical Engineering from Haramaya University in
and extensive applications. 2010 and the M.Sc. degree in Control Engineering in
2018 from Addis Ababa University, Ethiopia. He is
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AUTHORS PROFILE

Dr.M.Sundar Rajan was born in Vellore, India in

1984 .He received B.E., M.Tech and Ph.D Degree in
Electrical Engineering in 2005, 2007 and 2013
respectively. He is working as an Associate Professor
in Department of Industrial Control and
Instrumentation, Faculty of Electrical and Computer
Engineering in Arbaminch University, Ethiopia. He is
having more than 12 years of teaching and 4years of research experience.
He published more than 10 papers in International Journals and One Patent.
He has received Excellence in Teaching and Research award. He is member

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DOI: 10.35940/ijeat.D8983.049420 2155 & Sciences Publication