A Task Model to Reduce Control Delays
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In this paper, we first identify the potential violationsof control assumptions inherent in standard real-timescheduling approaches (because of the presence of jitters)that causes degradation in control performance and mayeven lead to instability.We then develop practicalapproaches founded on control theory to deal with theseviolations.Our approach is based on the notion ofcompensations wherein controller parameters areadjusted at runtime for the presence of jitters.Throughtime and memory overhead analysis, and by elaboratingon the implementation details, we characterize when off-lineand on-line compensations are feasible.Ourexperimental results confirm that our approach doescompensate for the degraded control performance whenEDF and FPS algorithms are used for scheduling thecontrol tasks.Our compensation approach provides usanother advantage that leads to better schedulability ofcontrol tasks.This derives from the potential to derivemore flexible timing constraints, beyond periods anddeadlines necessary to apply EDF and FPS.Overall, our approach provides guarantees offline thatthe control system will be stable at runtime -- if temporalrequirements are met at runtime -- even when actualexecution patterns are not known beforehand. With ourapproach, we can address the problems due to (a)sampling jitters, (b) varying delays between sampling andactuation, or (c) both - not addressable using traditionalEDF and FPS based scheduling, or by previous real-timeand control integration approaches.