01482nas a2200205 4500008004100000245006200041210006100103260003500164300001400199490001400213520082800227653002101055653001301076100001801089700001301107700001501120700001701135700001401152856011001166 2008 eng d00aAnytime Control Algorithms for Real-Time Embedded Systems0 aAnytime Control Algorithms for RealTime Embedded Systems aSt. Louis, MObSpringer-Verlag a158 - 1710 v4981/20083 a
In this paper we consider the problem of designing controllers for linear plants to be implemented in embedded platforms under stringent real-time constraints. These include preemptive scheduling schemes, under which the maximum execution time allowed for control software tasks is uncertain. We propose an ``anytime control'' design approach, consisting in a hierarchy of controllers for the same plant. Higher controllers in the hierarchy provide better closed-loop performance, while typically requiring a larger worst-case execution time. We provide a procedure for the design of controllers which, together with a conditioning process of the stochastic scheduling, provides better performance than prevailing worst case-based design, while guaranteeing almost sure stability of the resulting switching system.
10aEmbedded Control10aRobotics1 aFontanelli, D1 aGreco, L1 aBicchi, A.1 aEgerstedt, M1 aMishra, B uhttp://www.centropiaggio.unipi.it/publications/anytime-control-algorithms-real-time-embedded-systems.html