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We consider the problem of estimating timing of measurements and actuation indistributed sensor and control systems with central processing. The focus is ondirect timing estimation for scenarios where clock synchronization is notfeasible or desirable. Models of the timing and central and peripheral timestamps are motivated and derived from underlying clock and communication delaydefinitions and models. Heuristics for constructing a system time is presentedand it is outlined how the joint timing and the plant state estimation can behandled. For a simple set of underlying clock and communication delay models,inclusion of peripheral unit time stamps is shown to reduce jitter, and it isargued that in general it will give significant jitter reduction. Finally, anumerical example is given of a contemporary system design.

Timing estimation in distributed sensor and control systems with central processing