| 1. |
- Cervin, Anton, et al.
(author)
-
A Matlab Toolbox for Real-Time and Control Systems Co-Design
- 1999
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Conference paper (peer-reviewed)abstract
- The paper presents a Matlab toolbox for simulation of real-time control systems. The basic idea is to simulate a real-time kernel in parallel with continuous plant dynamics. The toolbox allows the user to explore the timely behavior of control algorithms, and to study the interaction between the control tasks and the scheduler. From a research perspective, it also becomes possible to experiment with more flexible approaches to real-time control systems, such as feedback scheduling. The importance of a more unified approach for the design of real-time control systems is discussed. The implementation is described in some detail and a number of examples are given.
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| 2. |
- Cervin, Anton
(author)
-
Improved Scheduling of Control Tasks
- 1999
-
Conference paper (peer-reviewed)abstract
- The paper considers the implementation of digital controllers as real-time tasks in priority-preemptive systems. The performance of a digital feedback control system depends critically on the timing of its sampling and control actions. It is desirable to minimize the computational delay in the controller, as well as the sampling jitter and the control jitter. It is shown that by scheduling the two main parts of a control algorithm as separate tasks, the computational delay can often be reduced significantly. A heuristic method for assigning deadlines to the parts is presented. Further modifications are given to reduce the jitter and to facilitate delay compensation. The result is improved control performance under maintained schedulability.
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| 3. |
- Årzén, Karl-Erik, et al.
(author)
-
Integrated Control and Scheduling
- 1999
-
Reports (other academic/artistic)abstract
- The report gives a state-of-the-art survey of the field of integrated control and scheduling. Subtopics discussed are implementation and scheduling of periodic control loops, scheduling under overload, control and scheduling co-design, dynamic task adaptation, feedback scheduling, and scheduling of imprecise calculations. The report also presents the background, motivation, and research topics in the ARTES project Integrated Control and Scheduling.
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