Feedback scheduling: an event-driven paradigm
ACM SIGPLAN Notices
Cross-layer analysis, testing and verification of automotive control software
EMSOFT '11 Proceedings of the ninth ACM international conference on Embedded software
Time-triggered implementations of mixed-criticality automotive software
DATE '12 Proceedings of the Conference on Design, Automation and Test in Europe
Task scheduling: A control-theoretical viewpoint for a general and flexible solution
ACM Transactions on Embedded Computing Systems (TECS)
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We study the problem of dynamically scheduling a set of state-feedback control tasks controlling a set of linear plants. We consider an on-line non-preemptive scheduling policy that is optimal in the sense that it minimizes a quadratic performance criterion for the overall system. The optimal scheduling decision at each point in time is a function of the states of the controlled plants. To be able to solve the scheduling problem for realistic examples, we use the technique of relaxed dynamic programming to compute suboptimal solutions with error bounds. The approach is compared to earlier approaches in a case study involving simultaneous control of one ball-and-beam process and two DC-servo processes. We also show how the scheduling policy can be modified to allow for background tasks to execute when the need for control is small.