@conference {BJPP,
	title = {Quantised Control in Distributed Embedded Systems.},
	booktitle = {Proc. 16th Int. Symp. on Mathematical Theory of Networks and Systems},
	year = {2004},
	abstract = {<p>Traditional control design is based on ideal assumptions concerning the amount, type and accuracy of the information flow that can be circulated across the controller. Unfortunately, real implementation platforms exhibit non-idealities that may substantially invalidate such assumptions. As a result, the systems closed-loop performance can be severely affected and sometimes stability itself is jeopardised. These problems show up with particular strength when multiple feedback loops share a limited pool of computation and communication resources. In this case the designer is confronted with the challenging task of choosing at the same time the control law and the optimal allocation policy for the shared resources (control algortihm/system architecture co-design).</p>
},
	keywords = {Embedded Control, Robotics},
	author = {A. Bicchi and K. H. Johansson and L. Palopoli and B. Picasso}
}
@conference {PCB03,
	title = {Quality of service control in soft real-time applications},
	booktitle = {Proc. IEEE Int. Conf. on Decision and Control},
	year = {2003},
	pages = {664-669},
	abstract = {<p>In this paper we present results obtained in the context of Quality of Service (QoS) control for soft real-time applications. The discussion addresses the issue of dynamically adjusting the bandwidth for a set of periodic tasks, when a reservation-based (RB) CPU scheduling policy is used. RB techniques are particularly suitable for this kind of applications since they allow an accurate mathematical modelling of the dynamic evolution of the QoS experienced by tasks. Based on this model, a control policy guaranteeing specified QoS levels for different tasks is illustrated, along with necessary and sufficient conditions for its existence. Moreover, the problem of steering a task QoS back into its nominal level is tackled, in response to deviations due to temporary overload conditions. Simulation results are reported, for the purpose of validating the approach.</p>
},
	keywords = {Embedded Control, Robotics},
	author = {L. Palopoli and T. Cucinotta and A. Bicchi}
}
