摘要:A message scheduling that determines a sending order in real-time networked control systems should make the cycle time as short as possible. Minimizing the scheduling time itself in dynamic communication environments is also crucial for improving the performance of the systems. The proposed smart message-scheduling scheme for real- time Ethernet PROFINET IRT networks can obtain the optimal cycle time while substantially reducing the scheduling time when applied to communication networks in vessels with various messages and update times. Unlike previous techniques, the proposed scheme has a novel feature that can be applied to networks with arbitrary topology.