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.

%B IEEE Trans. on Automatic Control %V 50 %P 1790–1795 %8 November 2005 %G eng %0 Conference Paper %B Proc. IEEE Int. Conf. on Decision and Control %D 2002 %T Numerically efficient control of systems with communication constraints %A L. Palopoli %A A. Bicchi %A A. L. Sangiovanni-Vincentelli %K Embedded Control %K Robotics %XThe problem of stabilization to the trivial equilibrium of a system with communication constraints is addressed. The communication constraints are related to the fact that commands are issued to different groups of actuators through a shared resource. We tackle the problem by using a Model Predictive Control scheme, which,at every step, decides the allocation of the bus {\em and} he control command values. After discussing two different alternatives for dealing with the scheduling constraints, we develop a formulation based on the generalized linear complementarity problem, which enables the application of efficient numerical solutions. Finally, we give some preliminary result on the parametric dependence of the problem's solution from the system's state.

%B Proc. IEEE Int. Conf. on Decision and Control %P 1626-1631 %8 December %G eng %0 Book Section %B Hybrid Systems: Computation and Control %D 2002 %T Synthesis of robust control systems under resource constraints %A L. Palopoli %A C. Pinello %A A. L. Sangiovanni-Vincentelli %A L. El-Ghaoui %A A. Bicchi %E M. Greenstreet %E C. Tomlin %K Embedded Control %K Robotics %B Hybrid Systems: Computation and Control %S Lecture Notes in Computer Science %I Springer-Verlag %C Heidelberg, Germany %V LNCS 2289 %P 337-350 %G eng %0 Book Section %B Hybrid Systems: Computation and Control %D 2001 %T Hybrid Feedback Control for Path Tracking by a Bounded-Curvature Vehicle %A A. Balluchi %A P. Souères %A A. Bicchi %E Di Benedetto, M. D. %E A. L. Sangiovanni-Vincentelli %K Autonomous Vehicles %K Hybrid and Embedded Control Systems %K Nonlinear Control Systems %B Hybrid Systems: Computation and Control %S Lecture Notes in Computer Science %I Springer-Verlag %C Heidelberg, Germany %V 2034 %P 133-146 %G eng %0 Conference Paper %B Proc. 39th IEEE Conference on Decision and Control %D 2000 %T Hybrid Tracking Control for Spark-Ignition Engines %A A. Balluchi %A A. Bicchi %A C. Caterini %A C. Rossi %A A. L. Sangiovanni-Vincentelli %K Automotive %K Autonomous Vehicles %K Hybrid and Embedded Control Systems %B Proc. 39th IEEE Conference on Decision and Control %C Sydney, NSW, Australia %V 4 %P 3126-31 %8 December %G eng %0 Conference Paper %B Proc. IFAC International Workshop on Motion Control %D 1998 %T Hybrid Optimization Problems in Automotive Applications %A A. Balluchi %A A. Bicchi %A G. Padroni %A C. Rossi %A A. L. Sangiovanni-Vincentelli %K Automotive %K Hybrid and Embedded Control Systems %B Proc. IFAC International Workshop on Motion Control %C Grenoble, France %P 273-278 %8 September %G eng