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