Quote: an asynchronous, triply-redundant voting system was unstable because channels sampled sensors at different times; bad at control points

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The triplex-redundant [Digital Flight-Control System] of the experimental AFTI-F16 airplane … [using average output of 3 independent computers]. Because they are unsynchronized, individual channels can … another. … An even more serious shortcoming of asynchronous systems …   Google-1   Google-2

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