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...Industrial automation and robotics distributed control systems prof paolo rocco polimi it politecnico di milano dipartimento elettronica informazione e bioingegneria in a system composed by unit few sensors actuators communication can be performed using analog or digital voltage current signals what happens however if we have many units connected to instead of an point connection choose bus connecting all the one more before discussing need clarify are real time identify main components discrete law periodically computes variable given measure controlled reference signal this computation is executed every sampling interval replicate same behavior on computer operating that always takes amount complete task will call such how define which at output produced significant as input usually corresponds some event physical world has relate must process information produce response within specified else risk severe consequences including failure whose correctness based both outputs their timel...