Reconfiguration Control Networks for FPGA-based TMR systems with modular error recovery.

•Reconfiguration Control Networks (RCNs) aggregate TMR voter error reports to trigger recovery from configuration memory errors in FPGA designs.•The scalability, performance and reliability of three soft and one hard network type are compared.•The impact of these RCNs on system reliability and performance is also evaluated.•The hard network was found to be the most reliable despite having the highest network latency.•System reliability is lower with module-based recovery than with scrubbing unless the RCN is also triplicated and repaired when errors occur in it.