This paper presents a novel fault-tolerant networked control system
architecture consisting of two cells working in-line. This architecture is
fault-tolerant at the level of the controllers as well as the sensors. Each
cell is based on the sensor-to-actuator approach and has an additional supervisor
node. It is proven, via analysis as well as OMNeT++ simulations that the
production line succeeds in meeting all control system requirements with no
dropped or over-delayed packets. A reliability analysis is then undertaken to
quantitatively estimate the increase in reliability due to the introduction of
fault-tolerance.
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