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We discuss the scheduling of a set of networked control systems implementedover a shared communication network. Each control loop is described by alinear-time-invariant (LTI) system with an event-triggered implementation. Weassume the network can be used by at most one control loop at any time instantand after each controller update, a pre-defined channel occupancy time elapsesbefore the network is available. In our framework we offer the scheduler twooptions to avoid conflicts: using the event-triggering mechanism, where thescheduler can choose the triggering coefficient; or forcing controller updatesat an earlier pre-defined time. Our objective is avoiding communicationconflict while guaranteeing stability of all control loops. We formulate theoriginal scheduling problem as a control synthesis problem over a network oftimed game automata (NTGA) with a safety objective. The NTGA is obtained bytaking the parallel composition of the timed game automata (TGA) associatedwith the network and with all control loops. The construction of TGA associatedwith control loops leverages recent results on the abstraction of timing modelsof event-triggered LTI systems. In our problem, the safety objective is toavoid that update requests from a control loop happen while the network is inuse by another task. We showcase the results in some examples.

Scheduling of Event-Triggered Networked Control Systems using Timed Game Automata