We address the problem of synthesising real-time embedded controllers taking into account constraints deriving from the implementation platform. Assuming a time-triggered model of computation for tasks controlling a set of independent systems and a real-time preemptive scheduling policy managing a single CPU processor board, we deal with two problems: 1- deciding whether a performance specification can be met on a given platform, 2- optimising performance on a platform. Decision variables of the design problems are the activation periods of the tasks , while the considered performance metric is the minimum stability radius attained over the different feedback loops, which is related to the technological feasibility of the controller and to the robustness of the controlled systems. The analytical formulation of the design problems enables efficient numerical solutions. The resulting control policies are directly implementable without performance degradation that may otherwise arise due to scheduling and execution delays.

10aEmbedded Control10aRobotics1 aPalopoli, L1 aPinello, C1 aBicchi, A.1 aSangiovanni-Vincentelli, A L uhttp://www.centropiaggio.unipi.it/publications/maximizing-stability-radius-set-systems-under-real-time-scheduling-constraints.html00739nas a2200217 4500008004100000245006700041210006700108260004100175300001200216490001400228653002100242653001300263100001600276700001500292700003300307700001700340700001500357700001900372700001400391856011600405 2002 eng d00aSynthesis of robust control systems under resource constraints0 aSynthesis of robust control systems under resource constraints aHeidelberg, GermanybSpringer-Verlag a337-3500 vLNCS 228910aEmbedded Control10aRobotics1 aPalopoli, L1 aPinello, C1 aSangiovanni-Vincentelli, A L1 aEl-Ghaoui, L1 aBicchi, A.1 aGreenstreet, M1 aTomlin, C uhttp://www.centropiaggio.unipi.it/publications/synthesis-robust-control-systems-under-resource-constraints.html