Efficient Heterogeneous Network-Routing Method Based on Dynamic Control Middleware for Cyber-Physical System

Figure 7

New controller device connection in heterogeneous networks. (a) A new CD, CD-4, is connected to the EDCM. (b) CD-1 responds to CD-3. (c) A routing path is completed between CD-4 and the CDM.

(a)

(b)

(c)