It is necessary to organize the control system following a hierarchical
decentralized architecture. A control module with precise responsibilities
should be made for each component of the system. Control modules
should be assigned to the different levels in the hierarchy so that a
higher-level control module coordinates the control modules below it.
Every control module is an autonomous decision maker that maintains its
local state, processes input data from physical devices or other control
modules, elaborates commands and cooperates with higher-level control
Decentralized control enhances system reliability and modularity.
New system components can be easily integrated within the control
architecture when system functionality must be updated or faulty
Brugali, D. and Menga, G. (2002) “Architectural Models for Global Automation
Systems”, IEEE Transactions on Robotics and Automation , Vol. 18, No. 4,
Estrin, D., Govindan, R. and Heidemann, J. (eds) (2000), Special Issue on
“Embedding the Internet,” Communications of the ACM , Vol. 43, No. 5.