The coordinative decentralized control system based on local communications

Proposes a coordinative decentralized control system architecture (CODA) as a fault-tolerant industrial plant control system. The system can be reconfigured to adapt to its conditions and environment by the coordination of its controllers. To guarantee the appropriate coordination, coordination protocol was designed to be the rules of cooperation among the controllers. The coordination mechanism is a combination of intercontroller activity and intracontroller activity. To verify its coordinatability, a prototype of CODA was tested by simulation