Due to their distributed/parallel and data-driven nature, control syst
ems can easily be modeled according to a data flow approach. Control s
ystems are very often real-time systems; therefore, a formalism able t
o capture timing is required. In this paper we introduce a data flow m
odel that includes time and priority for specifying real-time control
systems and we give its formal semantics. The control system is specif
ied by a data flow network which, beside the controller, may include t
he model of the plant at some abstraction level. Time is associated to
any computational activity and time accounting is made directly in th
e model and not as a separate issue. Priorities allow to deal with eve
nts, as alarm signals, which cannot be delayed. A general framework fo
r the indirect evaluation of the model is introduced, and a data flow
network to timed Petri net transformation is defined allowing the util
ization of the automatic tools of Petri nets for analyzing the tempora
l properties of the data how network. The approach is illustrated by a
n example in which, after the application of the transformation, selec
ted performance measures are computed. (C) 1998 Elsevier Science Ltd.
All rights reserved.