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Industrial communication systems represent one of the most important innovations of the last decades in the context of factory and process automation systems. They are networks specifically designed to cope with the tight requirements of these challenging application fields such as real time, determinism, and reliability. Moreover, industrial networks are often deployed in environments characterized by strong electromagnetic interference, mechanical stress, critical temperature, and humidity. Over the last three decades, different classes of industrial networks have been developed according to changing requirements and available communication and information technologies. In this paper, we first provide an account of the state of the art, reviewing classical fieldbuses, real-time Ethernet networks, and industrial wireless networks, along with their most relevant features, applications, and performance figures. We …