Adaptive control speed based on network quality of service

The adaptive control speed algorithm, developed in this paper, adapts the control performance according to the communication quality of service in a networked control system. The adaptive control speed algorithm is distributed among several control loops, all sharing a bandwidth limited network. The target is to adjust the control speed and sampling interval of all the control loops, such that the network is fully utilized, while not congesting the network, but maintaining a specified network quality of service. The control speed is developed according to the internal model control principle. Bumpless changing the sampling time of the controller is also proposed. The adaptive control speed algorithm is demonstrated with the network and control co-simulator PiccSIM.