%T Real\-time and fault tolerance in distributed control software
%A  Bojan Orlic,  Jan F. Broenink
%E  Jan F. Broenink,  Gerald H. Hilderink
%B Communicating Process Architectures 2003
%X Closed loop control systems typically contain multitude of
   spatially distributed sensors and actuators operated
   simultaneously. So those systems are parallel and
   distributed in their essence. But mapping this parallelism
   onto the given distributed hardware architecture, brings in
   some additional requirements: safe multithreading, optimal
   process allocation, real\-time scheduling of bus and network
   resources. Nowadays, fault tolerance methods and fast even
   online reconfiguration are becoming increasingly important.
   All those often conflicting requirements, make design and
   implementation of real\-time distributed control systems an
   extremely difficult task, that requires substantial
   knowledge in several areas of control and computer science.
   Although many design methods have been proposed so far, none
   of them had succeeded to cover all important aspects of the
   problem at hand. [1] Continuous increase of production in
   embedded market, makes a simple and natural design
   methodology for real\-time systems needed more then ever.