In the networked control system, the communication delay and the time-varying communication delay exert a significant influence on the stability of the system and its performance. In particular, in the real-time control system, priority-driven routing is needed. In this paper, we propose a new relay structure and discuss its implementation using RT-Messenger, which is a real-time communication protocol. By performing some experiments, we confirmed that the proposed relay structure showed improved performance in terms of real-time measure.
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