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

Table 4

Measured NCS time delay for NCS with the proposed 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	11	12	15	34	38	21	22	28	21	18	13	38	25	16	32	23
	Force	12	9	14	13	16	9	12	14	9	14	13	16	10	14	13	16
Central ring	Motion	15	16	21	19	23	32	37	23	21	19	26	27	31	32	23	24
	Force	9	12	14	9	14	13	16	10	14	13	16	12	9	14	13	16
Outer ring	Motion	27	32	23	34	21	31	32	12	32	23	21	12	18	19	32	19
	Force	11	15	13	12	10	9	12	14	9	14	13	10	13	14	16	13
Line move	Motion	32	34	21	28	32	18	21	23	25	21	23	18	24	23	24	24
	Force	13	16	10	14	13	16	10	13	14	16	12	9	14	13	16	13