Reaching Agreement in the Presence of Faults
Journal of the ACM (JACM)
Stabilizing Pre-Run-Time Schedules With the Help of GraceTime
Real-Time Systems
End-to-end arguments in system design
ACM Transactions on Computer Systems (TOCS)
Dependability: Basic Concepts and Terminology
Dependability: Basic Concepts and Terminology
Can Software Implemented Fault-Injection Be Used on Real-Time Systems?
EDCC-3 Proceedings of the Third European Dependable Computing Conference on Dependable Computing
Executable Assertions for Detecting Data Errors in Embedded Control Systems
DSN '00 Proceedings of the 2000 International Conference on Dependable Systems and Networks (formerly FTCS-30 and DCCA-8)
Experimental evaluation of the fail-silent behaviour in programs with consistency checks
FTCS '96 Proceedings of the The Twenty-Sixth Annual International Symposium on Fault-Tolerant Computing (FTCS '96)
Practical Issues in the Use of ABFT and a New Failure Model
FTCS '98 Proceedings of the The Twenty-Eighth Annual International Symposium on Fault-Tolerant Computing
RTSS '98 Proceedings of the IEEE Real-Time Systems Symposium
Building dependable systems: how to keep up with complexity
FTCS'95 Proceedings of the Twenty-Fifth international conference on Fault-tolerant computing
EDCC-4 Proceedings of the 4th European Dependable Computing Conference on Dependable Computing
On the effects of errors during boot
LADC'05 Proceedings of the Second Latin-American conference on Dependable Computing
Failure boundedness in discrete applications
LADC'07 Proceedings of the Third Latin-American conference on Dependable Computing
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Abstract: Feedback Control Systems have a peculiar behavior that allows them to compensate for disturbances in the controlled application. This paper investigates whether this resilience also extends to disturbances originating from faults in the controller itself. The question of what kind of failure model is more effective in this type of system is addressed, with three different models being studied: arbitrary failure, fail-silent, and fail-bounded. The study is conducted essentially by experimental fault-injection in the controller of one of the best known and most demanding of the benchmarks used in the control systems area: an inverted pendulum. The considered failure models are compared according to criteria based on the quality of the control action. Other insights gained from the experiments made are described, for instance on how to significantly increase dependability at a very low-cost in feedback controllers, and on the need for a different kind of real-time scheduling algorithms.