7
V. Liberatore
Pervasive Computing
Congestion: Example
*Scenario
nOne controller
*Discrete LQR
*Assumes 50ms sampling rate
*Assumes no delays
nn inverted pendulum
nBottleneck: T1 line
nRTT: 3ms
nPlot response over time
*Congestion
nWhen more plants are added
nScalability
controller
plant
plant
plant
plant
switch
1.5Mbps