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Oversampling-Based Control with Multi-Core and Edge Implementations

Nyberg Carlsson, Max LU orcid ; Al Bayati, Ahmed LU orcid and Årzén, Karl Erik LU orcid (2025) 9th IEEE Conference on Control Technology and Applications, CCTA 2025 p.812-819
Abstract

Digital control systems introduce unavoidable computational latencies. For some controllers this time delay inhibits practical use, even though they in theory could provide more efficient control. For example, solving an optimization problem each sampling period when using model predictive control. By sampling faster than the computation time and executing independent controllers on distributed hardware, e.g., a multi-core CPU or an edge/cloud server, output from the controllers can be interlaced. We call this oversampling-based control. This paper explores its implementation via simulations and experiments on a real Furuta pendulum using LQR and MPC control. We demonstrate both how control performance can be improved, without changing... (More)

Digital control systems introduce unavoidable computational latencies. For some controllers this time delay inhibits practical use, even though they in theory could provide more efficient control. For example, solving an optimization problem each sampling period when using model predictive control. By sampling faster than the computation time and executing independent controllers on distributed hardware, e.g., a multi-core CPU or an edge/cloud server, output from the controllers can be interlaced. We call this oversampling-based control. This paper explores its implementation via simulations and experiments on a real Furuta pendulum using LQR and MPC control. We demonstrate both how control performance can be improved, without changing the control law, and practical issues that may occur.

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Please use this url to cite or link to this publication:
author
; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
2025 IEEE Conference on Control Technology and Applications, CCTA 2025
editor
Vermillion, Christopher ; Olaru, Sorin ; Mathieu, Johanna ; Mercangoz, Mehmet ; Stockar, Stephanie ; Karimi, Alireza ; Faulwasser, Timm ; Kerrigan, Eric ; Fineisen, Rolf ; Gros, Sebastien ; Prodan, Ionela ; Edwards, Christopher ; Dabbene, Fabrizio ; Chapman, Airlie and Touri, Behrouz
pages
8 pages
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
9th IEEE Conference on Control Technology and Applications, CCTA 2025
conference location
San Diego, United States
conference dates
2025-08-25 - 2025-08-27
external identifiers
  • scopus:105017851203
ISBN
9798331539085
DOI
10.1109/CCTA53793.2025.11151418
language
English
LU publication?
yes
id
cbe4be59-644f-45b4-9a96-1e9fb82dae17
date added to LUP
2025-12-05 14:15:10
date last changed
2025-12-05 14:15:24
@inproceedings{cbe4be59-644f-45b4-9a96-1e9fb82dae17,
  abstract     = {{<p>Digital control systems introduce unavoidable computational latencies. For some controllers this time delay inhibits practical use, even though they in theory could provide more efficient control. For example, solving an optimization problem each sampling period when using model predictive control. By sampling faster than the computation time and executing independent controllers on distributed hardware, e.g., a multi-core CPU or an edge/cloud server, output from the controllers can be interlaced. We call this oversampling-based control. This paper explores its implementation via simulations and experiments on a real Furuta pendulum using LQR and MPC control. We demonstrate both how control performance can be improved, without changing the control law, and practical issues that may occur.</p>}},
  author       = {{Nyberg Carlsson, Max and Al Bayati, Ahmed and Årzén, Karl Erik}},
  booktitle    = {{2025 IEEE Conference on Control Technology and Applications, CCTA 2025}},
  editor       = {{Vermillion, Christopher and Olaru, Sorin and Mathieu, Johanna and Mercangoz, Mehmet and Stockar, Stephanie and Karimi, Alireza and Faulwasser, Timm and Kerrigan, Eric and Fineisen, Rolf and Gros, Sebastien and Prodan, Ionela and Edwards, Christopher and Dabbene, Fabrizio and Chapman, Airlie and Touri, Behrouz}},
  isbn         = {{9798331539085}},
  language     = {{eng}},
  pages        = {{812--819}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  title        = {{Oversampling-Based Control with Multi-Core and Edge Implementations}},
  url          = {{http://dx.doi.org/10.1109/CCTA53793.2025.11151418}},
  doi          = {{10.1109/CCTA53793.2025.11151418}},
  year         = {{2025}},
}