First, we review some previous work on networked control systems (NCSs) and offer some improvements. Then, we summarize the fundamental issues in NCSs and examine them with different underlying network-scheduling protocols. We present NCS models with network-induced delay and analyze their stability using stability regions and a hybrid systems technique. Following that, we discuss methods to compensate network-induced delay and present experimental results over a physical network. Then, we model NCSs with packet dropout and multiple-packet transmission as asynchronous dynamical systems and analyze their stability. Finally, we present our conclusions.

Stability of networked control systems

Time-delay systems: an overview of some recent advances and open problems

CUBIC is a congestion control protocol for TCP (transmission control protocol) and the current default TCP algorithm in Linux. The protocol modifies the linear window growth function of existing TCP standards to be a cubic function in order to improve the scalability of TCP over fast and long distance networks. It also achieves more equitable bandwidth allocations among flows with different RTTs (round trip times) by making the window growth to be independent of RTT -- thus those flows grow their congestion window at the same rate. During steady state, CUBIC increases the window size aggressively when the window is far from the saturation point, and the slowly when it is close to the saturation point. This feature allows CUBIC to be very scalable when the bandwidth and delay product of the network is large, and at the same time, be highly stable and also fair to standard TCP flows. The implementation of CUBIC in Linux has gone through several upgrades. This paper documents its design, implementation, performance and evolution as the default TCP algorithm of Linux.

/pdf/cubic-a-new-tcp-friendly-high-speed-tcp-variant-1q6viqr7sh.pdf

CUBIC: a new TCP-friendly high-speed TCP variant

Most of the signal processing that we will study in this course involves local operations on a signal, namely transforming the signal by applying linear combinations of values in the neighborhood of each sample point. You are familiar with such operations from Calculus, namely, taking derivatives and you are also familiar with this from optics namely blurring a signal. We will be looking at sampled signals only. Let's start with a few basic examples. Local difference Suppose we have a 1D image and we take the local difference of intensities, DI(x) = 1 2 (I(x + 1) − I(x − 1)) which give a discrete approximation to a partial derivative. (We compute this for each x in the image.) What is the effect of such a transformation? One key idea is that such a derivative would be useful for marking positions where the intensity changes. Such a change is called an edge. It is important to detect edges in images because they often mark locations at which object properties change. These can include changes in illumination along a surface due to a shadow boundary, or a material (pigment) change, or a change in depth as when one object ends and another begins. The computational problem of finding intensity edges in images is called edge detection. We could look for positions at which DI(x) has a large negative or positive value. Large positive values indicate an edge that goes from low to high intensity, and large negative values indicate an edge that goes from high to low intensity. Example Suppose the image consists of a single (slightly sloped) edge:

http://ieeexplore.ieee.org/iel5/5/31307/01456462.pdf

Linear systems

Cognitive radio (CR) technology is envisaged to solve the problems in wireless networks resulting from the limited available spectrum and the inefficiency in the spectrum usage by exploiting the existing wireless spectrum opportunistically. CR networks, equipped with the intrinsic capabilities of the cognitive radio, will provide an ultimate spectrum-aware communication paradigm in wireless communications. CR networks, however, impose unique challenges due to the high fluctuation in the available spectrum as well as diverse quality-of-service (QoS) requirements. Specifically, in cognitive radio ad hoc networks (CRAHNs), the distributed multi-hop architecture, the dynamic network topology, and the time and location varying spectrum availability are some of the key distinguishing factors. In this paper, intrinsic properties and current research challenges of the CRAHNs are presented. First, novel spectrum management functionalities such as spectrum sensing, spectrum sharing, and spectrum decision, and spectrum mobility are introduced from the viewpoint of a network requiring distributed coordination. A particular emphasis is given to distributed coordination between CR users through the establishment of a common control channel. Moreover, the influence of these functions on the performance of the upper layer protocols, such as the network layer, and transport layer protocols are investigated and open research issues in these areas are also outlined. Finally, a new direction called the commons model is explained, where CRAHN users may independently regulate their own operation based on pre-decided spectrum etiquette.

/pdf/crahns-cognitive-radio-ad-hoc-networks-1odtmohw8e.pdf

CRAHNs: Cognitive radio ad hoc networks

TCP Westwood (TCPW) is a sender-side modification of the TCP congestion window algorithm that improves upon the performance of TCP Reno in wired as well as wireless networks. The improvement is most significant in wireless networks with lossy links, since TCP Westwood relies on end-to-end bandwidth estimation to discriminate the cause of packet loss (congestion or wireless channel effect) which is a major problem in TCP Reno. An important distinguishing feature of TCP Westwood with respect to previous wireless TCP “extensions” is that it does not require inspection and/or interception of TCP packets at intermediate (proxy) nodes. Rather, it fully complies with the end-to-end TCP design principle. The key innovative idea is to continuously measure at the TCP source the rate of the connection by monitoring the rate of returning ACKs. The estimate is then used to compute congestion window and slow start threshold after a congestion episode, that is, after three duplicate acknowledgments or after a timeout. The rationale of this strategy is simple: in contrast with TCP Reno, which “blindly” halves the congestion window after three duplicate ACKs, TCP Westwood attempts to select a slow start threshold and a congestion window which are consistent with the effective bandwidth used at the time congestion is experienced. We call this mechanism faster recovery. The proposed mechanism is particularly effective over wireless links where sporadic losses due to radio channel problems are often misinterpreted as a symptom of congestion by current TCP schemes and thus lead to an unnecessary window reduction. Experimental studies reveal improvements in throughput performance, as well as in fairness. In addition, friendliness with TCP Reno was observed in a set of experiments showing that TCP Reno connections are not starved by TCPW connections. Most importantly, TCPW is extremely effective in mixed wired and wireless networks where throughput improvements of up to 550% are observed. Finally, TCPW performs almost as well as localized link layer approaches such as the popular Snoop scheme, without incurring the O/H of a specialized link layer protocol.

/pdf/tcp-westwood-bandwidth-estimation-for-enhanced-transport-2han45mzmb.pdf

TCP westwood: Bandwidth estimation for enhanced transport over wireless links

TCP Westwood (TCPW) is a sender-side modification of the TCP congestion window algorithm that improves upon the performance of TCP Reno in wired as well as wireless networks. The improvement is most significant in wireless networks with lossy links. In fact, TCPW performance is not very sensitive to random errors, while TCP Reno is equally sensitive to random loss and congestion loss and cannot discriminate between them. Hence, the tendency of TCP Reno to overreact to errors. An important distinguishing feature of TCP Westwood with respect to previous wireless TCP "extensions" is that it does not require inspection and/or interception of TCP packets at intermediate (proxy) nodes. Rather, TCPW fully complies with the end-to-end TCP design principle. The key innovative idea is to continuously measure at the TCP sender side the bandwidth used by the connection via monitoring the rate of returning ACKs. The estimate is then used to compute congestion window and slow start threshold after a congestion episode, that is, after three duplicate acknowledgments or after a timeout. The rationale of this strategy is simple: in contrast with TCP Reno which "blindly" halves the congestion window after three duplicate ACKs, TCP Westwood attempts to select a slow start threshold and a congestion window which are consistent with the effective bandwidth used at the time congestion is experienced. We call this mechanism faster recovery. The proposed mechanism is particularly effective over wireless links where sporadic losses due to radio channel problems are often misinterpreted as a symptom of congestion by current TCP schemes and thus lead to an unnecessary window reduction. Experimental studies reveal improvements in throughput performance, as well as in fairness. In addition, friendliness with TCP Reno was observed in a set of experiments showing that TCP Reno connections are not starved by TCPW connections. Most importantly, TCPW is extremely effective in mixed wired and wireless networks where throughput improvements of up to 550% are observed. Finally, TCPW performs almost as well as localized link layer approaches such as the popular Snoop scheme, without incurring the overhead of a specialized link layer protocol.

/pdf/tcp-westwood-end-to-end-congestion-control-for-wired-4z5mcaxyfl.pdf

TCP westwood: end-to-end congestion control for wired/wireless networks

TCP congestion control has been designed to ensure Internet stability along with fair and efficient allocation of the network bandwidth. During the last decade, many congestion control algorithms have been proposed to improve the classic Tahoe/Reno TCP congestion control. This paper aims at evaluating and comparing three control algorithms, which are Westwood+, New Reno and Vegas TCP, using both Ns-2 simulations and live Internet measurements. Simulation scenarios are carefully designed in order to investigate goodput, fairness and friendliness provided by each of the algorithms. Results show that Westwood+ TCP is friendly towards New Reno TCP and improves fairness in bandwidth allocation whereas Vegas TCP is fair but it is not able to grab its bandwidth share when coexisting with Reno or in the presence of reverse traffic because of its RTT-based congestion detection mechanism. Finally results show that Westwood+ remarkably improves utilization of wireless links that are affected by losses not due to congestion.

/pdf/performance-evaluation-and-comparison-of-westwood-new-reno-2lqyde75gu.pdf

Performance evaluation and comparison of Westwood+, New Reno, and Vegas TCP congestion control

Modern production facilities (i.e. flexible manufacturing systems) exhibit a high degree of resource sharing, a situation in which deadlocks (circular waits) can arise. Using digraph theoretic concepts we derive necessary and sufficient conditions for a deadlock occurrence and rigorously characterize highly undesirable situations (second level deadlocks), which inevitably evolve to circular waits in the next future. We assume that the system dynamics is described by a discrete event dynamical model, whose state provides the information on the current interactions job-resources. This theoretic material allows us to introduce some control laws (named restriction policies) which use the state knowledge to avoid deadlocks by inhibiting or by enabling some transitions. The restriction policies involve small on-line computation costs, so they are suitable for real-time implementation. For a meaningful class of systems one of these policies is the least restrictive deadlock-free policy one can find, namely it inhibits resource allocation only if leads directly to a deadlock. Finally, the paper discusses the computational complexity of all the proposed restriction policies and shows some examples to compare their performances.

/pdf/event-based-feedback-control-for-deadlock-avoidance-in-1zfllne0ui.pdf

Event-based feedback control for deadlock avoidance in flexible production systems

In this work control theory is used to formalize hyperchaos synchronization as a nonlinear observer design issue. Following this approach, a new systematic tool to synchronize a class of hyperchaotic systems via a scalar transmitted signal is developed. The proposed technique has been applied to synchronize two well-known hyperchaotic systems.

/pdf/nonlinear-observer-design-to-synchronize-hyperchaotic-1tqgh1bncr.pdf

Saverio Mascolo

Papers

TCP westwood: Bandwidth estimation for enhanced transport over wireless links

TCP westwood: end-to-end congestion control for wired/wireless networks

Performance evaluation and comparison of Westwood+, New Reno, and Vegas TCP congestion control

Event-based feedback control for deadlock avoidance in flexible production systems

Nonlinear observer design to synchronize hyperchaotic systems via a scalar signal