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There is a tight interaction between the control architecture and the communication protocols in networked control systems. Periodic time-triggered control loops are natural to use together with a TDMA scheduled communication medium, while a periodic event-triggered control loops are suitable for contention-based medium access. Only recently has a thorough study on the advantages and disadvantages with time- and event-triggered control started. The goal of this paper is to study a scenario in which multiple event-triggered control loops share a common contention-based communication medium. The contention-based medium access diminishes the performance of the event-triggered schemes because it leads to collisions.
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