# Demo Abstract: Fast Feedback Control and Coordination with Mode Changes for Wireless Cyber-Physical Systems

## TL;DR

This paper demonstrates a real-time wireless control system that maintains stability and coordination across dynamic mode changes and device movements in low-power multi-hop networks, enabling flexible cyber-physical applications.

## Contribution

It introduces a novel feedback control system that guarantees stability during mode changes and device mobility in wireless cyber-physical networks.

## Key findings

- Achieved update intervals of tens of milliseconds.
- Maintained closed-loop stability across mode changes.
- Supported device mobility without affecting control performance.

## Abstract

This abstract describes the first public demonstration of feedback control and coordination of multiple physical systems over a dynamic multi-hop low-power wireless network with update intervals of tens of milliseconds. Our running system can dynamically change between different sets of application tasks (e.g., sensing, actuation, control) executing on the spatially distributed embedded devices, while closed-loop stability is provably guaranteed even across those so-called mode changes. Moreover, any subset of the devices can move freely, which does not affect closed-loop stability and control performance as long as the wireless network remains connected.