On the optimal sending rate for Networked Control Systems with a shared communication medium

In this work, we consider the optimal sending rate for Networked Control Systems (NCS) with different communication schemes. Therefore, we compare time-triggered control with a Time Division Multiple Access (TDMA) or a Frequency Division Multiple Access (FDMA) communication protocol and event-based control with an ALOHA or Carrier Sense Multiple Access (CSMA) communication protocol. Our main interest is the optimal load and optimal performance of such systems. Nevertheless, we are also interested how the optimal performance scales with the number of agents, whether or not it is possible to add a new agent to an already running system, and the effects of an overloaded communication system.