A Time-Delay-Bounded Data Scheduling Algorithm for Delay Reduction in Distributed Networked Control Systems

Table 3

Measured NCS time delay for NCS without scheduling mechanism adopted.

System
th control cycle		1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16
Inner ring	Motion	12	15	16	21	19	23	18	13	24	18	13	38	42	43	56	23
	Force	21	24	35	36	32	12	14	13	15	9	12	16	24	30	32	12
Central ring	Motion	15	16	21	19	23	32	37	23	48	65	89	47	45	32	23	24
	Force	12	15	26	43	25	36	42	12	14	15	9	14	16	16	13	10
Outer ring	Motion	27	32	45	87	67	45	57	36	56	23	34	38	18	19	32	19
	Force	9	13	14	15	8	16	13	15	14	34	23	25	34	14	13	16
Line move	Motion	64	54	34	54	39	45	21	23	25	34	23	18	24	23	29	24
	Force	10	13	8	15	15	34	23	21	32	43	12	16	17	12	18	19