Comparing the networks CAN and ARINC 629 CP with respect to the quality of the service provided to an automatic control application

The objective of this work is, at first, to formally model and evaluate the Quality of the Service (delay) provided by the MAC layer of the networks CAN and ARINC 629 CP with respect to a particular periodic message stream among a set of periodic message streams and, second, to link this Quality of Service to the stability performance of a closed loop control system which is based on this particular periodic message stream. At first, the message scheduling and delay evaluation are made by using Stochastic Time Petri Nets. We show the relation (message priority - message delay), and when either CAN or ARINC is better. Finally, by considering the closed loop control system as a continuous linear system and then using the concept of transfer function based on the Laplace Transform, we evaluate its phase margin in function of the delay.