C. A. Addison, W. H. Enright, P. W. Gaffney, I. Gladwell, and P. M. Hanson, Algorithm 687: a decision tree for the numerical solution of initial value ordinary differential equations, ACM Transactions on Mathematical Software, vol.17, issue.1, 1991.
DOI : 10.1145/103147.103148

P. Apkarian and P. Gahinet, A convex characterization of gain-scheduled H/sub ???/ controllers, IEEE Transactions on Automatic Control, vol.40, issue.5, pp.853-864, 1995.
DOI : 10.1109/9.384219

M. Arnold, B. Burgermeister, C. Führer, G. Hippmann, and G. Rill, Numerical methods in vehicle system dynamics: state of the art and current developments, Vehicle System Dynamics, vol.76, issue.7, 2011.
DOI : 10.1023/A:1021909032551

U. Ascher and L. Petzold, Computer Methods for Ordinary Differential Equations and Differential-Algebraic Equations, SIAM, 1998.

C. Aubrun, C. Berbra, S. Gentil, S. Lesecq, and D. Sauter, Fault detection and isolation, fault tolerant control, Co-design approaches for dependable networked control systems, 2010.

C. Berbra, S. Gentil, S. Lesecq, and D. Simon, Control and diagnosis for an unmanned aerial vehicle, Co-design approaches for dependable networked control systems, 2010.

C. Berbra, D. Simon, S. Gentil, and S. Lesecq, Hardware in the loop networked diagnosis of a quadrotor drone, 7th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes SafeProcess'09, 2009.
URL : https://hal.archives-ouvertes.fr/hal-00368148

J. Biannic, A. Marcos, M. Jeanneau, and C. Roos, Nonlinear simplified lft modelling of an aircraft on ground, Computer Aided Control System Design, IEEE International Conference on Control Applications IEEE International Symposium on Intelligent Control, pp.2213-2218, 2006.

G. J. Bierman, Measurement updating using the U-D factorization, Automatica, vol.12, issue.4, pp.375-382, 1976.
DOI : 10.1016/0005-1098(76)90058-3

J. Borrelly, E. Coste-manière, B. Espiau, K. Kapellos, R. Pissard-gibollet et al., The ORCCAD Architecture, The International Journal of Robotics Research, vol.17, issue.4, pp.338-359, 1998.
DOI : 10.1177/027836499801700403
URL : https://hal.archives-ouvertes.fr/hal-00930119

X. Cao, J. Chen, C. Gao, and Y. Sun, An optimal control method for applications using wireless sensor/actuator networks, Computers & Electrical Engineering, vol.35, issue.5, 2009.
DOI : 10.1016/j.compeleceng.2009.02.008

A. Cervin, Integrated Control and Real-Time Scheduling, 2003.

M. Epstein, L. Shi, A. Tiwari, and R. Murray, Probabilistic performance of state estimation across a lossy network, Probabilistic performances of state estimation across a lossy network, pp.3046-3053, 2008.
DOI : 10.1016/j.automatica.2008.05.026

F. Felicioni, C. Berbra, S. Gentil, and S. Lesecq, On-line adaptive control of a quadrotor under (m,k)-firm constraint, XXII Congreso Argentino de Control Automático -AADECA, 2010.

F. E. Felicioni, Estabilidad y Performance de Sistemas Distribuidos de Control Feasibility mock-ups of feedback schedulers -D04, p.5, 2011.

F. Felicioni, N. Jia, F. Simonot-lion, and Y. Song, Overload management through selective data dropping, Co-design approaches for dependable networked control systems, 2010.

F. Felicioni, N. Jia, Y. Song, S. Lion, and F. , Optimal on-line (m,k)-firm constraint assignment for real-time control tasks based on plant state information, 12th IEEE Conference on Emerging Technologies and Factory Automation (ETFA), 2008.
URL : https://hal.archives-ouvertes.fr/inria-00335942

F. Felicioni and S. Junco, A Lie Algebraic Approach to Design of Stable Feedback Control Systems with Varying Sampling Rate, 17th IFAC World Congress, 1998.
DOI : 10.3182/20080706-5-KR-1001.00820
URL : https://hal.archives-ouvertes.fr/inria-00335936

J. J. Ford, Non-linear and robust filtering : From the kalman filter to the particle filter, 2002.

C. Gauthier, O. Sename, L. Dugard, and G. Meissonnier, An H ? linear parameter-varying (LPV) controller for a diesel engine common rail injection system, Proceedings of the European Control Conference, 2007.

D. M. Gleason, Avoiding numerical stability problems of long duration DGPS/INS Kalman filters, Journal of Geodesy, vol.16, issue.6, pp.263-275, 1996.
DOI : 10.1007/BF00867347

J. Guerrero-castellanos, Estimation de l'attitude et commande bornée en attitude d'un corps rigide: Application à un mini helicopter à quatre rotors, 2008.

J. Guerrero-castellanos, C. Berbra, S. Gentil, and S. Lesecq, Quadrotor attitude control through a network with (m-k)-firm policy, European Control Conference ECC09, 2009.
URL : https://hal.archives-ouvertes.fr/hal-00368831

M. Hamdaoui and P. Ramanathan, A service policy for real-time customers with (m,k)-firm deadlines, Fault-Tolerant Computing Symposium, pp.196-205, 1994.

J. Hespanha, P. Naghshtabrizi, and Y. Xu, A Survey of Recent Results in Networked Control Systems, Proceedings of the IEEE, vol.95, issue.1, pp.138-162, 2007.
DOI : 10.1109/JPROC.2006.887288

M. Huang and S. Dey, Stability of Kalman filtering with Markovian packet losses, Automatica, vol.43, issue.4, pp.598-607, 2007.
DOI : 10.1016/j.automatica.2006.10.023

N. Jia, Y. Song, and F. Simonot-lion, Graceful degradation of the quality of control through data drop policy, European Control Conference, p.7, 2007.

J. Jimenez, M. Lopez, P. Smyth, G. Gennari, D. Raimondo et al., Tool Specifications, Deliverable, FeedNetBack IST project 223866. Feasibility mock-ups of feedback schedulers -D04, p.5, 2010.

G. Juanole, G. Mouney, and C. Calmettes, On different priority schemes for the message scheduling in Networked Control Systems, 2008 16th Mediterranean Conference on Control and Automation, 2008.
DOI : 10.1109/MED.2008.4602231

S. Lesecq, S. Gentil, and N. Daraoui, Quadrotor attitude estimation with data losses, European Control Conference ECC09, 2009.
URL : https://hal.archives-ouvertes.fr/hal-00368815

J. Li, Y. Song, S. Lion, and F. , Providing Real-Time Applications With Graceful Degradation of QoS and Fault Tolerance According to<tex>$(m, k)$</tex>-Firm Model, IEEE Transactions on Industrial Informatics, vol.2, issue.2, pp.112-119, 2006.
DOI : 10.1109/TII.2006.875511

M. Lohning, Lpv and lfr modelling of elastic robots for controller synthesis, Control and Automation (ICCA), 8th IEEE International Conference on, pp.522-527, 2010.

D. Muñoz-de-la-peña-sequedo and D. M. Raimondo, FeedNetBack-D04.02-design of model predictive controllers over networks, 2010.

H. Pfifer and S. Hecker, Generation of optimal linear parametric models for lft-based robust stability analysis and control design, 47th IEEE Conference on Decision and Control, CDC'08, pp.3866-3871, 2008.

D. Robert, O. Sename, and D. Simon, An <formula formulatype="inline"><tex Notation="TeX">$H_{\infty} $</tex></formula> LPV Design for Sampling Varying Controllers: Experimentation With a T-Inverted Pendulum, IEEE Transactions on Control Systems Technology, vol.18, issue.3, pp.741-749, 2010.
DOI : 10.1109/TCST.2009.2026179

E. Roche, Commande à échantillonnage variable pour les systèmes LPV : application à un sous-marin autonome, 2011.

E. Roche, O. Sename, A. Seuret, D. Simon, and S. Varrier, Feednetback-d04.03 -design of robust variable rate controllers, 2010.
URL : https://hal.archives-ouvertes.fr/inria-00536601

E. Roche, O. Sename, D. Simon, and S. Varrier, A hierarchical Varying Sampling H??? Control of an AUV, 18th IFAC World Congress (IFAC WC 2011), 2011.
DOI : 10.3182/20110828-6-IT-1002.01580
URL : https://hal.archives-ouvertes.fr/hal-00640404

L. Schenato, To Zero or to Hold Control Inputs With Lossy Links?, IEEE Transactions on Automatic Control, vol.54, issue.5, pp.1093-1099, 2009.
DOI : 10.1109/TAC.2008.2010999

L. Schenato, B. Sinopoli, M. Franceschetti, K. Poolla, and S. Sastri, Foundations of Control and Estimation Over Lossy Networks, Proceedings of the IEEE, vol.95, issue.1, pp.163-18705, 2007.
DOI : 10.1109/JPROC.2006.887306

M. Schinkel, W. Chen, and A. Rantzer, Optimal control for systems with varying sampling rate, American Control Conference ACC'02, 2002.

D. Simon, Hardware-in-the-loop test-bed of an Unmanned Aerial Vehicle using Orccad, 6th National Conference on Control Architectures of Robots, 2011.
URL : https://hal.archives-ouvertes.fr/inria-00599685

D. Simon and F. Benattar, Design of real-time periodic control systems through synchronization and fixed priorities, International Journal of Systems Science, vol.30, issue.2, pp.57-76, 2005.
DOI : 10.1023/A:1007964222989
URL : https://hal.archives-ouvertes.fr/inria-00000742

D. Simon, D. Robert, and O. Sename, Robust Control/Scheduling Co-Design: Application to Robot Control, 11th IEEE Real Time and Embedded Technology and Applications Symposium, 2005.
DOI : 10.1109/RTAS.2005.46
URL : https://hal.archives-ouvertes.fr/inria-00000733

D. Simon, A. Seuret, P. Hokayem, J. Lygeros, and E. Camacho, FeedNetBack-D04.01- State of the art in control, 2009.
URL : https://hal.archives-ouvertes.fr/inria-00536949

H. Simpson, Multireader and multiwriter asynchronous communication mechanisms, IEE Proceedings-Computer and Digital Techniques, pp.241-244, 1997.
DOI : 10.1049/ip-cdt:19971220

B. Sinopoli, L. Schenato, M. Franceschetti, K. Poolla, M. Jordan et al., Kalman Filtering With Intermittent Observations, IEEE Transactions on Automatic Control, vol.49, issue.9, pp.1453-1464, 2004.
DOI : 10.1109/TAC.2004.834121

S. Sun, L. Xie, W. Xiao, and Y. Soh, Optimal linear estimation for systems with multiple packet dropouts, Automatica, vol.44, issue.5, pp.1333-1342, 2008.
DOI : 10.1016/j.automatica.2007.09.023

M. Törngren, D. Henriksson, O. Redell, C. Kirsch, J. El-khoury et al., Co-design of control systems and their real-time implementation a tool survey, Royal Institute of Technology, issue.11, 2006.

M. Verhaegen and V. Verdult, Filtering and System Identification, 2007.
DOI : 10.1017/CBO9780511618888