Ethernet for networked control an experimental test bench

The paper addresses the topics related to networked control. We propose an experimental test bench for verifying theoretical approaches in the research field of network distributed real-time control systems. Implementation is done using a general frame provided by Matlab/Simulink xPC realtime kernel for implementing complex communication and control schemes. This general framework is suitable also for introducing to students main topics in networked control theory. Our approach is done in three steps: modeling and simulation using TrueTime, validation of communication parameters and, finally, implementation of a real-time control strategy for compensating the network induced variable delays and packet collisions induced by the Ethernet network.