BER Analysis for Controller Area Network Impaired by the Impulse Noise in Cyber-Physical Systems

The physical space and the cyber space are deeply coupled in Cyber-physical systems (CPS). The computing components and the physical components are connected via the communication network. However, highly dynamics of the physical environments may lead to unpredictable performance of the network. In order to achieve the best synthesized performance of CPS, the physical impairments on communication must be quantitatively analyzed carefully. The paper introduces a mathematical model of the impulse noise under the realistic channels. The model takes different parameters of the impulse noise into consideration, especially the impulse width. The probability density function of the receiving signals embracing the impact of the noise is derived. Then the model is applied to Controller Area Network (CAN). The relations between the bit error rate (BER) of CAN and the parameters of the impulse noise, which is not well addressed in previously published studies, are established. Compared with the existing models of the impulse noise, the new model not only includes most of these models, but considers the bursty nature of the impulse noise. The results of the quantitative analysis under different physical scenarios are helpful to improve the synthesized performance of CPS via accurate compensation mechanisms.