Introduction

Abstract

With the emergence of high speed network technology that allows a cluster of devices to be linked together economically to form distributed networks which are capable of remote data transmission and data exchanges, distributed control systems based on networks are increasing rapidly in various applications([83, 84]). Due to the use of networks, the complexity and the cost of distributed control systems are reduced greatly and the maintenance of the systems becomes much easier ([229]). Because of these attractive benefits, many industrial companies and institutes have shown great interest in applying various networks to remote control systems and manufacturing automation. As a result of extensive research and development, several network protocols for industrial control have been released, such as industrial Ethernet, ControlNet, and DeviceNet.