01487nas a2200169   4500008004100000245007500041210006900116260001300185300001400198520090500212653002101117653001301138100001301151700001801164700001501182856012001197       2007                        eng d00aAlmost Sure Stability of Anytime Controllers via Stochastic Scheduling0 aAlmost Sure Stability of Anytime Controllers via Stochastic Sche  cDecember  a5640-56453 a<p>In this paper we consider scheduling the execution of a number of different software tasks implementing a hierarchy of real-time controllers for a given plant. Controllers are considered to be given and ordered according to a measure of the performance they provide. Software tasks implementing higher-performance controllers are assumed to require a larger worst-case execution time. Control tasks are to be scheduled within given availability limits on execution time, which change stochastically in time. The ensuing switching system is prone to instability, unless a very conservative policy is enforced of always using the simplest, least performant controller. The presented method allows to condition the stochastic scheduling of control tasks so as to obtain a better exploitation of computing capabilities, while guaranteeing almost sure stability of the resulting switching system.</p>
10aEmbedded Control10aRobotics1 aGreco, L1 aFontanelli, D1 aBicchi, A.  uhttp://www.centropiaggio.unipi.it/publications/almost-sure-stability-anytime-controllers-stochastic-scheduling.html