A hierarchial CPU scheduler for multimedia operating systems
OSDI '96 Proceedings of the second USENIX symposium on Operating systems design and implementation
Computer-controlled systems (3rd ed.)
Computer-controlled systems (3rd ed.)
Stochastic analysis and control of real-time systems with random time delays
Automatica (Journal of IFAC)
Scheduling Algorithms for Multiprogramming in a Hard-Real-Time Environment
Journal of the ACM (JACM)
Priority Inheritance Protocols: An Approach to Real-Time Synchronization
IEEE Transactions on Computers
Performance-Based Design Of Distributed Real-Time Systems
RTAS '97 Proceedings of the 3rd IEEE Real-Time Technology and Applications Symposium (RTAS '97)
Simulation and Tracing of Hybrid Task Sets on Distributed Systems
RTCSA '98 Proceedings of the 5th International Conference on Real-Time Computing Systems and Applications
A Matlab Toolbox for Real-Time and Control Systems Co-Design
RTCSA '99 Proceedings of the Sixth International Conference on Real-Time Computing Systems and Applications
Visual assessment of a real-time system design: a case study on a CNC controller
RTSS '96 Proceedings of the 17th IEEE Real-Time Systems Symposium
On task schedulability in real-time control systems
RTSS '96 Proceedings of the 17th IEEE Real-Time Systems Symposium
A proportional share resource allocation algorithm for real-time, time-shared systems
RTSS '96 Proceedings of the 17th IEEE Real-Time Systems Symposium
Elastic Task Model for Adaptive Rate Control
RTSS '98 Proceedings of the IEEE Real-Time Systems Symposium
Integrating Multimedia Applications in Hard Real-Time Systems
RTSS '98 Proceedings of the IEEE Real-Time Systems Symposium
Design and Evaluation of a Feedback Control EDF Scheduling Algorithm
RTSS '99 Proceedings of the 20th IEEE Real-Time Systems Symposium
Theory, Volume 1, Queueing Systems
Theory, Volume 1, Queueing Systems
Constant Bandwidth vs Proportional Share Resource Allocation
ICMCS '99 Proceedings of the 1999 IEEE International Conference on Multimedia Computing and Systems - Volume 02
Euromicro-RTS'00 Proceedings of the 12th Euromicro conference on Real-time systems
A tool for simulation and fast prototyping of embedded control systems
OM '01 Proceedings of the 2001 ACM SIGPLAN workshop on Optimization of middleware and distributed systems
Feedback–Feedforward Scheduling of Control Tasks
Real-Time Systems
Stochastic Analysis of a Reseveration Based System
IPDPS '01 Proceedings of the 15th International Parallel & Distributed Processing Symposium
On Control with Bounded Computational Resources
FTRTFT '02 Proceedings of the 7th International Symposium on Formal Techniques in Real-Time and Fault-Tolerant Systems: Co-sponsored by IFIP WG 2.2
Quality-of-Control Management in Overloaded Real-Time Systems
IEEE Transactions on Computers
Efficient and robust probabilistic guarantees for real-time tasks
Journal of Systems and Software
Soft real-time scheduling for embedded control systems
Automatica (Journal of IFAC)
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A typical approach for realizing digital controllers is to synthesize the control law in the continuous-time domain and then to implement it as a set of periodic threads complying with tight temporal constraints. The strict respect of all deadlines can often be obtained only by selecting low activation rates which determine a remarkable performance degradation. On the other hand, many control systems are known to tolerate a certain amount of deadline misses. We realized a software tool which allows to numerically evaluate the quality of the control resulting from the scheduling. The tool has been applied to a robotic case study. Considering a meaningful set of trajectories, we have drawn experimental evidences that the use of soft realtime constraints on the threads leads to significant improvements in the system performance. The performance improvement is more evident if scheduling approaches like resource reservations schemes, able to separate the thread importance from its activation rate, are used.