Journal of Embedded Systems
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Journal of Embedded Systems. 2018, 5(1), 1-6
DOI: 10.12691/jes-5-1-1
Open AccessArticle

Impact of Reducing Bit Stuffing Jitter on the Control Performance of a CAN-Based Distributed Furnace System

Mouaaz Nahas1,

1Department of Electrical Engineering, College of Engineering and Islamic Architecture, Umm Al-Qura University, Makkah, Saudi Arabia

Pub. Date: April 19, 2018

Cite this paper:
Mouaaz Nahas. Impact of Reducing Bit Stuffing Jitter on the Control Performance of a CAN-Based Distributed Furnace System. Journal of Embedded Systems. 2018; 5(1):1-6. doi: 10.12691/jes-5-1-1


The Controller Area Network (CAN) protocol is widely used in distributed real-time, resource-constrained embedded systems. CAN uses “Non Return to Zero” (NRZ) coding and employs a bit-stuffing mechanism for clock synchronization. Such a mechanism causes a variation in the CAN frame length which may have a detrimental impact on the control behaviour of safety-critical systems employing this protocol. To address this issue, two techniques known as “byte-based XOR masking” and “software bit stuffing” were developed and achieved a jitter reduction of up to 20% and 40%, respectively, when employed in practical designs. This paper investigates the effectiveness of such techniques in a real-time control application; that is a simple furnace system case study based on a “hardware-in-the-loop” (HIL) testbed facility. The results show that reducing bit stuffing jitter has the potential to improve the control performance of distributed real-time systems employing CAN protocol.

jitter bit stuffing scheduler time-triggered shared-clock furnace system hardware-in-the-loop

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