**1. Introduction**

48 Numerical Simulation – From Theory to Industry

*Conference(DSCC)*, Cambridge, MA, Sept, 2010.

Intelligent Control, May 25-26, Philadelphia, PA

[11] C. Nataraj and R. Thimmaraya, "Tracking Control of Unmanned Surface Vehicles with Abkowitz Steering Model," *Proc of the* ASME *Dynamic Systems and Control* 

[12] D. Lee and C. Nataraj, "Adaptive Tracking Control of Linear Time-varying Unmanned Surface Vehicles with Disturbances", Intelligent Ships Symposium IX (ISSIX) 2011,

> Nowadays, industry has successfully used Network Control Systems (NCS) therefore several lines of research have arisen. A NCS is a current application of a Real-Time Distributed Systems (RTDS), composed of a number of nodes capable of developing a complete control process. In these systems several nodes exchange information through a communication network to achieve specific control goals, nevertheless network traffic increases. This affects the overall system performance. Several approaches have been developed to satisfy requirements of both control and communication performance. Particularly, some methodologies focus on saving bandwidth, one of such methodologies is network scheduling. The objective of this methodology is the accurately use of the computing resources. NCS research is categorized into two main parts [5]:


These systems have many challenges to maintain the the Quality of Service (QoS) and Quality of Control (QoC). In the networks, QoS is the idea that transmission rates, error rates, and other characteristics can be measured and improved. The QoS can be degraded due to congestion and interference.
