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Delay-Aware Period Assignment in Control Systems

Bini, Enrico and Cervin, Anton LU (2008) 29th IEEE Real-Time Systems Symposium
Abstract
We consider the problem of optimal static period assignment for multiple independent control tasks executing on the same CPU. Previous works have assumed that the control performance can be expressed as a function of the sampling rate only. Arguing that the control delay has a large impact on the control performance, in this work we include the control delay in the cost function. The delay is estimated using an approximate response-time analysis. Assuming linear cost functions for the controllers then allows us to solve the optimal period assignment problem analytically. The performance improvements over previous methods are verified in evaluations on synthetic task sets as well as detailed co-simulations of the controllers, the plants,... (More)
We consider the problem of optimal static period assignment for multiple independent control tasks executing on the same CPU. Previous works have assumed that the control performance can be expressed as a function of the sampling rate only. Arguing that the control delay has a large impact on the control performance, in this work we include the control delay in the cost function. The delay is estimated using an approximate response-time analysis. Assuming linear cost functions for the controllers then allows us to solve the optimal period assignment problem analytically. The performance improvements over previous methods are verified in evaluations on synthetic task sets as well as detailed co-simulations of the controllers, the plants, and the scheduler. (Less)
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author
organization
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type
Contribution to conference
publication status
published
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conference name
29th IEEE Real-Time Systems Symposium
external identifiers
  • Scopus:67249145644
language
English
LU publication?
yes
id
ffa332f8-fc3a-4e6f-90f3-185dd0152c3f (old id 1445562)
date added to LUP
2009-07-21 09:30:35
date last changed
2016-11-27 04:37:56
@misc{ffa332f8-fc3a-4e6f-90f3-185dd0152c3f,
  abstract     = {We consider the problem of optimal static period assignment for multiple independent control tasks executing on the same CPU. Previous works have assumed that the control performance can be expressed as a function of the sampling rate only. Arguing that the control delay has a large impact on the control performance, in this work we include the control delay in the cost function. The delay is estimated using an approximate response-time analysis. Assuming linear cost functions for the controllers then allows us to solve the optimal period assignment problem analytically. The performance improvements over previous methods are verified in evaluations on synthetic task sets as well as detailed co-simulations of the controllers, the plants, and the scheduler.},
  author       = {Bini, Enrico and Cervin, Anton},
  language     = {eng},
  title        = {Delay-Aware Period Assignment in Control Systems},
  year         = {2008},
}