VII. CONCLUSIONS
The timing analyses of common control networks including
DeviceNet, ControlNet and Ethernet, is carried out in order to
investigate networked control systems with time delays. A
discussion of the characteristics of control networks is
provided. For each protocol, the key timing characteristics of
control networks, which include blocking time, frame time, and
propagation time, are presented, and the timing equations of
each time type for control networks are given. After that the
analysis of networked control system is carried out, and an
approach to design of a full-state observer is introduced with
single-packet transmission and network-induced random time
delay less than one sample period, and then a scheme of
compensation for network-induced delay in NCSs is proposed
based on the observer derived. Some simulations have been
carried out and simulation results of system with random time