Strategic directions in real-time and embedded systems
ACM Computing Surveys (CSUR) - Special ACM 50th-anniversary issue: strategic directions in computing research
Computer-controlled systems (3rd ed.)
Computer-controlled systems (3rd ed.)
Scheduling Algorithms for Multiprogramming in a Hard-Real-Time Environment
Journal of the ACM (JACM)
Flexible Real-Time Linux*: A Flexible Hard Real-Time Environment
Real-Time Systems - Flexible Scheduling on Real-Time Systems
Advances in Real-Time Systems
Feedback–Feedforward Scheduling of Control Tasks
Real-Time Systems
POSIX-Compatible Application-Defined Scheduling in MaRTE OS
ECRTS '02 Proceedings of the 14th Euromicro Conference on Real-Time Systems
A New Kernel Approach for Modular Real-Time Systems Development
ECRTS '01 Proceedings of the 13th Euromicro Conference on Real-Time Systems
Dynamic Integrated Scheduling of Hard Real-Time, Soft Real-Time and Non-Real-Time Processes
RTSS '03 Proceedings of the 24th IEEE International Real-Time Systems Symposium
Hard Real-time Computing Systems: Predictable Scheduling Algorithms And Applications (Real-Time Systems Series)
Optimal State Feedback Based Resource Allocation for Resource-Constrained Control Tasks
RTSS '04 Proceedings of the 25th IEEE International Real-Time Systems Symposium
Improving Soft Real-Time Performance through Better Slack Reclaiming
RTSS '05 Proceedings of the 26th IEEE International Real-Time Systems Symposium
Resource Management for Control Tasks Based on the Transient Dynamics of Closed-Loop Systems
ECRTS '06 Proceedings of the 18th Euromicro Conference on Real-Time Systems
Research trends in real-time computing for embedded systems
ACM SIGBED Review - Special issue on major international initiatives on real-time and embedded systems
Control-scheduling codesign of real-time systems: The control server approach
Journal of Embedded Computing - Real-Time Systems (Euromicro RTS-03)
Brief paper: Sporadic event-based control of first-order linear stochastic systems
Automatica (Journal of IFAC)
Draco: Efficient Resource Management for Resource-Constrained Control Tasks
IEEE Transactions on Computers
On self-triggered full-information H-infinity controllers
HSCC'07 Proceedings of the 10th international conference on Hybrid systems: computation and control
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Effective slack management, i.e., management of unused computing resources, for real-time control tasks mandates to redistribute the available resources between controllers as a function of the state of the controlled plants. Slack can be allocated to control tasks to alter their rate of progress via e.g., the controllers' period, in order to adapt their behavior to changes in the computing platform and in the environment. This paper presents an experimental evaluation of two representative slack redistribution policies for multitasking real-time control systems: ''coordinated'' vs. ''self-triggered''. In the coordinated policy a resource manager is responsible for modifying each control task progress. Alternatively, in the self-triggered policy, each control task decides its progress. The demands that each policy poses to the computing platform are analyzed and different operating system architectures providing flexibility and adaptivity are discussed. A proof-of-concept implementation including the real-time control of three double integrator plants in the form of electronic circuits is presented, and a complete performance analysis is reported.