Hybrid priority schemes for the message scheduling for CAN-based Networked Control Systems

In the context of Networked Control Systems (NCSs), the scheduling of messages is an important mechanism because it strongly influences on the Quality of Service (QoS) and the Quality of Control (QoC) of process control applications. The goal of this paper is to propose a hybrid priority scheme for the message scheduling in order to improve the QoS and the QoC for CAN-based NCSs. We consider implementation of several process control applications and evaluate the QoS and the QoC on a CAN network. Then we show the interest of the proposed hybrid priority scheme by comparing the QoS and the QoC provided by different priority schemes.