Co-simulation framework for Networked Control Systems over multi-hop mobile ad-hoc networks

Networked Control Systems over mobile ad-hoc networks have drawn the attention of the researchers because of its suitability in various ad-hoc applications. This paper presents the investigation of such systems using both real wireless communication and co-simulation of MATLAB and OPNET. The plant and the wireless node models are simulated on a computer by MATLAB and OPNET, respectively. The controller runs on a laptop. These two computers communicate using a real wireless link. The interactive co-simulation is applied to a double-pendulum plant with two sensors and two actuators. Both the co-simulation technique and the results are presented and discussed.