Delay Compensation in Integrated Communication and Control Systems: Part II -- Implementation and Verification

Integrated Communication and Control Systems (ICCS) introduce distributed and randomly varying delays within individual control and decision loops. With the objective of mitigating the detrimental effects of these network-induced delays, a predictor-controller algorithm has been formulated in the first part [1] of this-two-part paper. This second part addresses the implementation and verification of the delay-compensation algorithm. The delay compensator has been experimentally verified at an IEEE 802.4 network testbed for velocity control of a DC servomotor. Performance of the delay compensation algorithm was also examined by combined discrete-event and continuous-time simulation of the flight control system of an advanced aircraft, that uses the SAE linear token passing bus for data communications.