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An efficient development environments such as Software-in-the-Loop Simulation (SILS) and Rapid Control Prototyping (RCP) have been widely used to reduce the development time and cost of real-time ECUs. However, conventional SILS does not consider temporal behaviors caused by computation time, task scheduling, network-induced delays, and so on. As a result, the control performance of ECU is likely to be degraded after implementation. To overcome this problem, SILS/RCP which considers the temporal behaviors was suggested in the previous research. In this study, we validated the proposed SILS/RCP environments which are used to design an Electronic Stability Control (ESC) system which is one of the hard real-time control systems. The proposed SILS/RCP environments make it possible to realize ECUs in the early design phase by considering temporal behaviors.

In this paper, we proposed a formalized design procedure for networked control systems (NCSs). In a conventional development of NCSs, well-designed control algorithms do not result in the intended control performance after an implementation due to time delays, such as network-induced delays and controller computation delays. The proposed design procedure shows how to minimize the degradation of the control performance caused by the time delays. The design procedure was verified by designing a network-based traction control system (TCS). The designed TCS was realized and tested by using a rapid control prototyping (RCP) platform and a hardware-in-the-loop simulation (HILS) environment.