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Summary: neclab: The Network Embedded Control Lab
Nicholas Kottenstette and Panos J. Antsaklis
Department of Electrical Engineering
University of Notre Dame
Notre Dame, IN 46556 USAĦ
nkottens,antsaklis.1˘ @nd.edu
Abstract -- The network embedded control lab, neclab, is a software environment
designed to allow easy deployment of networked embedded control systems, in par-
ticular wireless networked embedded control systems (wnecs). A wnecs is a collec-
tion of interconnected plant sensors, digital controllers, and plant actuators which
communicate with each other over wireless channels. In this paper neclab is intro-
duced and explained using a simple ball and beam control application. We focus on
wnecs which use the MICA2 Motes.
1 Introduction
Typically, when a controls engineer needs to develop a new closed-loop control sys-
tem she develops the control system in phases. The first phase is to develop a math-
ematical model of the system and synthesize a controller. The second phase is to
simulate the control system using tools such as MATLAB [23]. In the third phase,
using the results from the simulations, the engineer integrates sensors, actuators, re-
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