Computer-controlled systems (3rd ed.)
Computer-controlled systems (3rd ed.)
Giotto: A Time-Triggered Language for Embedded Programming
EMSOFT '01 Proceedings of the First International Workshop on Embedded Software
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We review state-space control models in order to identify timing properties that can favour flexible scheduling of real-time control tasks. First, from the state-space model of a linear time-invariant discrete-time control system with time delay, we derive a new model that involves computing the control signal with a predicted state vector at the actuation instant. Second, by allowing irregular sampling instants, we show that the new model only forces a single synchronization point (actuation instant) while having a feasible implementation. This augurs better schedulability for a set of real-time control tasks, and can provide robustness against scheduling induced jitters.