Optimal CPU allocation to a set of control tasks with soft real--time execution constraints
Proceedings of the 16th international conference on Hybrid systems: computation and control
Timing analysis of cyber-physical applications for hybrid communication protocols
DATE '12 Proceedings of the Conference on Design, Automation and Test in Europe
Soft real-time scheduling for embedded control systems
Automatica (Journal of IFAC)
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In this paper, we propose two adaptive scheduling approaches to support real-time control applications with highly varying computation times. The use of a resource reservation scheduler enables the construction of a dynamic model describing the evolution of the computing delays, which can be incorporated in the system closed loop dynamics. The two approaches differ for the assumptions on the sequence of computation time. In the first approach, we have only an aggregate information (best case and worst case computation time) and design an adaptive scheduler that maintains the delay within the maximum bound compatible with the asymptotic stability of the system. In the second case, we assume a deeper knowledge on the distribution of the computation time and design an adaptive scheduler that ensures second moment stability of the system. The two approaches are evaluated on a case study exposing the different trade-offs between bandwidth and performance.