Real-Time Control and Scheduling Co-Design for Efficient Jitter Handling

• Real-time control algorithms are designed based on thecharacteristics of the controlled plants and they require goodperformance without delays. However, digital control implementationtypically introduces delays and jitters due to insufficient CPUprocessing power and the limitations of the real-time schedulingmethod used. This can degrade the system performance or even make itunstable.In this paper we propose an integrated approach for control designand real-time scheduling, suitable for both discrete-time andcontinuous-time controllers. It guarantees system performance byaccepting a certain minimum value of jitter for control tasks andfeasibly schedules them together with other tasks in the system.Results from comparison with other approaches from real-time andcontrol theory domains underline the effectiveness of our method.

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