Analysis of Networked Event-Based Control with a Shared Communication Medium: Part I – Pure ALOHA

Abstract In recent control literature, it was shown that event-based control requires less samples than time-triggered control. Consequently, it is argued that event-based control is superior to time-triggered control for Networked Control Systems (NCS) because it reduces the network utilization. The aim of this work is to show that it is not that simple. Therefore, we compare event-based and time-triggered control for a NCS consisting of subsystems with integrator dynamics and a shared communication medium, where packets are only lost due to collisions. We show that packet losses due to collisions drastically reduce the performance of event-based control if packets are transmitted whenever the event-based control generates an event. In contrast to previous findings, it turns out that in this setup time-triggered control is superior to event-based control.

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