An extended model of CAN in cyber-physical systems

The timing of communication (e.g. deadline, response time) is an important issue in cyber-physical systems (CPS). Control Area Network (CAN) is characterized by low-cost, real-time and high reliability; and it is widely used in a kind of typical applications in CPS (e.g. lunar probe, unmanned aerial vehicle). In this paper, we characterize the mutual-effects of physical dynamics and computing process to the performance of communication, which are not well addressed in previous studies. We propose a formal extended model for CAN, which takes physical-environmental factors and physical processes into account and integrates them with information factors. This model is exemplified through the lunar-probe application. Our work establishes the foundation for timing analysis of CAN in CPS.