Computer-controlled systems: theory and design (2nd ed.)
Computer-controlled systems: theory and design (2nd ed.)
Scheduling Algorithms for Multiprogramming in a Hard-Real-Time Environment
Journal of the ACM (JACM)
RTAS '97 Proceedings of the 3rd IEEE Real-Time Technology and Applications Symposium (RTAS '97)
On task schedulability in real-time control systems
RTSS '96 Proceedings of the 17th IEEE Real-Time Systems Symposium
Convex Optimization
The worst-case execution-time problem—overview of methods and survey of tools
ACM Transactions on Embedded Computing Systems (TECS)
Task Scheduling for Control Oriented Requirements for Cyber-Physical Systems
RTSS '08 Proceedings of the 2008 Real-Time Systems Symposium
Specification and Analysis of Network Resource Requirements of Control Systems
HSCC '09 Proceedings of the 12th International Conference on Hybrid Systems: Computation and Control
Modeling and Analysis of Multi-hop Control Networks
RTAS '09 Proceedings of the 2009 15th IEEE Symposium on Real-Time and Embedded Technology and Applications
Automata based interfaces for control and scheduling
HSCC'07 Proceedings of the 10th international conference on Hybrid systems: computation and control
Automatic verification of control system implementations
EMSOFT '10 Proceedings of the tenth ACM international conference on Embedded software
An Evaluation of SMT-Based Schedule Synthesis for Time-Triggered Multi-hop Networks
RTSS '10 Proceedings of the 2010 31st IEEE Real-Time Systems Symposium
Integration of off-line scheduling and optimal control
Euromicro-RTS'00 Proceedings of the 12th Euromicro conference on Real-time systems
A fast linear-arithmetic solver for DPLL(T)
CAV'06 Proceedings of the 18th international conference on Computer Aided Verification
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
Control-quality driven design of cyber-physical systems with robustness guarantees
Proceedings of the Conference on Design, Automation and Test in Europe
Cyber-physical system design contracts
Proceedings of the ACM/IEEE 4th International Conference on Cyber-Physical Systems
Multi-layered scheduling of mixed-criticality cyber-physical systems
Journal of Systems Architecture: the EUROMICRO Journal
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We consider the problem of designing a cyber-physical system where several control loops share the same architectural resources. Typically, the design of such systems proceeds in two steps. In the platform independent step, for each control loop in the system, the control designer calculates a control law and a sampling time that together ensure that the control loop has certain desired performance. Then, in the platform dependent step, these control tasks are scheduled on the platform, and a schedulability analysis determines if (and how) the control laws can be implemented and scheduled without missing the sampling deadlines. In this paper, we explore an alternative controller-scheduler co-design approach that aims to achieve optimal performance for all the individual control loops maintaining fairness. We first analyze the control systems to find out the rates at which control signals should be dropped to maintain schedulability and the optimal performance. We then use the rates to compute a schedule statically. We show a control theoretic approach to compute the effect of the rate of drops on the performance of the control systems and provide an SMT-based scheduling algorithm that takes as input control tasks, their periods, worst-case execution times, and their rate of drops, and outputs a static schedule that optimizes the performance of the control systems. We demonstrate our results through a case study on a family of inverted pendulums sharing the same processor for their control computations.