TrueTime: simulation of networked computer control systems

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceeding


Computer-based control systems and networked control systems are hybrid systems where continuous time-driven dynamics and discrete event-driven dynamics interact. The temporal non-determinism introduced by computing and communication in the form of delays and jitter can lead to significant performance degradation. TrueTime is a MATLAB/Simulink-based simulation tool that takes a completely different approach. Using TrueTime it is possible to simulate the temporal aspects of multi-tasking real-time kernels and wired or wireless networks within Simulink together with the continuous-time dynamics of the controlled plant. TrueTime consists of a block library with a computer kernel block and wired and wireless network blocks. The blocks are variable-step, discrete, MATLAB S-functions written in C++. The kernel block executes user-defined tasks and interrupts handlers. The network blocks distribute messages between computer nodes according to a chosen network model. The blocks are connected with ordinary continuous-time Simulink blocks to form a real-time control system


Research areas and keywords

Subject classification (UKÄ) – MANDATORY

  • Control Engineering


  • ordinary continuous-time Simulink blocks, interrupts handlers, real-time control system, user-defined tasks, C++, computer kernel block, block library, wireless network blocks, wired network blocks, multitasking real-time kernels, Simulink-based simulation tool, Matlab S-functions, discrete event-driven dynamics, continuous time-driven dynamics, hybrid systems, TrueTime, networked computer control system simulation
Original languageEnglish
Title of host publicationPreprints. ADHS'06 2nd IFAC Conference on Analysis and Design of Hybrid Systems
Publication statusPublished - 2006
Publication categoryResearch
EventADHS'06 2nd IFAC Conference on Analysis and Design of Hybrid Systems - Alghero, Italy
Duration: 2006 Jun 72006 Jun 9


ConferenceADHS'06 2nd IFAC Conference on Analysis and Design of Hybrid Systems