Recently, WirelessHART (2007) and ISA100.11a (2009) have been proposed as communication standard for a wireless fieldbus. However, Wireless Networked Control Systems performances are hard to verify in the real world, since test beds are expensive and difficult to implement. This paper proposes the use of a co-simulation framework based on the interaction of TrueTime, together with a cross layer wireless network simulator based on OMNET++. In particular, OMNET++ models show accurate aspects of network and devices, for improving overall coexistence management. A sample system controlled by a WirelessHART network has been considered; the analysis of the control performance and coexistence immunity of WirelessHART with respect to the traditional IEEE802.15.4, has been done. 
Improving simulation of wireless networked control systems based on WirelessHART