{HEAD ~ The invention} relates, in general, to automation systems and, in particular, to a method, {TAIL ~ a bus coupler}, a bus node, and a control system for real time control of an automation system 
relates to
{ HEAD ~ The invention } relates , in general , to automation systems and , in particular , to a method , { TAIL ~ a bus coupler } , a bus node , and a control system for real time control of an automation system
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