This is an Accepted Manuscript of an article published by Taylor & Francis in International Journal of Systems Science on 2014, available online:http://www.tandfonline.com/10.1080/00207721.2013.844286When a process ¿eld bus-decentralized peripherals (Pro¿bus-DP) network is used in an industrial environment, a deterministic
behaviour is usually claimed. However, due to some concerns such as bandwidth limitations, lack of synchronisation among
different clocks and existence of time-varying delays, a more complex problem must be faced. This problem implies the
transmission of irregular and, even, random sequences of incomplete information. The main consequence of this issue is
the appearance of different sampling periods at different network devices. In this paper, this aspect is checked by means of
a detailed Pro¿bus-DP timescale study. In addition, in order to deal with the different periods, a delay-dependent dual-rate
proportional-integral-derivative control is introduced. Stability for the proposed control system is analysed in terms of linear
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