Abstract
In this paper we consider the problem of designing controllers for linear plants to be implemented in embedded platforms under stringent real-time constraints. These include preemptive scheduling schemes, under which the maximum execution time allowed for control software tasks is uncertain. We propose an “anytime control” design approach, consisting in a hierarchy of controllers for the same plant. Higher controllers in the hierarchy provide better closed-loop performance, while typically requiring a larger worst-case execution time. We provide a procedure for the design of controllers which, together with a conditioning process of the stochastic scheduling, provides better performance than prevailing worst case-based design, while guaranteeing almost sure stability of the resulting switching system.
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Fontanelli, D., Greco, L., Bicchi, A. (2008). Anytime Control Algorithms for Embedded Real-Time Systems. In: Egerstedt, M., Mishra, B. (eds) Hybrid Systems: Computation and Control. HSCC 2008. Lecture Notes in Computer Science, vol 4981. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-78929-1_12
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DOI: https://doi.org/10.1007/978-3-540-78929-1_12
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