Error encoding algorithms for networked control systems

We propose and validate algorithms for choosing finite word length priorities for dynamically scheduled networked control systems. Two schemes for selecting priority levels are studied, the first with a fixed arbitrary grid and the second with an auto-scaling grid. We prove that the system is uniformly and ultimately bounded in the case of the static encoding, and asymptotically stable with the auto-scaling methodology. Simulations of an inverted pendulum controller using these schemes are compared against a controller with point-to-point wiring.