Extracting state information form a quantized output record
Systems & Control Letters
Scheduling Algorithms for Multiprogramming in a Hard-Real-Time Environment
Journal of the ACM (JACM)
Embedded Control Systems Development with Giotto
OM '01 Proceedings of the 2001 ACM SIGPLAN workshop on Optimization of middleware and distributed systems
Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications
Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications
Hierarchical Approach for Design of Multi-vehicle Multi-modal Embedded Software
EMSOFT '01 Proceedings of the First International Workshop on Embedded Software
Dynamic Voltage Scaling for Digital Control System Implementation
Real-Time Systems
Journal of Intelligent and Robotic Systems
Sensor/actuator abstractions for symbolic embedded control design
HSCC'05 Proceedings of the 8th international conference on Hybrid Systems: computation and control
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We address the problem of synthesizingre al-time embedded controllers taking in to account constraints deriving form the implementation platform. Specifically, we address the problem of controllinga set of independent systems by usinga shared single CPU processor board. Assuming a time-triggered model of computation for control processes and a real-time preemptive scheduling policy, the problem of optimizing robustness of the controlled systems is formulated. Decision variables of the optimization problem are the processes' activation periods and the feedback gains. The analytical formulation of the problem enables an efficient numerical solution based on a Branch and Bound scheme. The resulting design is directly implementable without performance degradations due to schedulinga nd execution delays.