Delay-Aware Period Assignment in Control Systems

Bini, Enrico; Cervin, Anton

doi:10.1109/rtss.2008.45

Cited by 106 publications

(106 citation statements)

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“…The proposed solution, however, is limited to the cost functions that are convex. The problem of minimizing control cost using an online or offline period assignment method has been considered by Henriksson and Cervin (2005) and Bini and Cervin (2008), respectively. However, these approaches neither try nor guarantee that the resulting periods are harmonic.…”

Section: Introductionmentioning

confidence: 99%

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Optimal harmonic period assignment: complexity results and approximation algorithms

Mohaqeqi

Nasri

et al. 2018

Real-Time Syst

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Harmonic periods have wide applicability in industrial real-time systems. Rate monotonic (RM) is able to schedule task sets with harmonic periods up to 100% utilization. Also, if there is no release jitter and execution time variation, RM and EDF generate the same schedule for each instance of a task. As a result, all instances of a task are interfered by the same amount of workload. This property decreases the jitters that happen during sampling and actuation of the tasks, and hence, it increases the quality of service in control systems. In this paper, we consider the problem of optimal period assignment where the periods are constrained to be harmonic and the task set is required to be feasible. We study two variants of this problem. In the first one, the objective is to maximize the system utilization, while in the second one, the 831 goal is to minimize the total weighted sum of the periods. First, we assume that an interval is determined a priori for each task from which its period can be selected. We show that both variants of the problem are (at least) weakly NP-hard. This is shown by reducing the NP-complete number partitioning problem to the mentioned harmonic period assignment problems. Afterwards, we consider a variant of the second problem in which the periods are not restricted to a special interval. We present two approximation algorithms with polynomial-time complexity for this problem and show that the maximum relative error of these algorithms is bounded by a factor of 1.125. Our evaluations show that, on the average, results of the approximation algorithms are very close to an optimal solution.

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Section: Introductionmentioning

confidence: 99%

“…In these systems, jitters in the sampling and actuation can adversely affect the quality of control (QoC) (Bini and Cervin 2008). These jitters can be efficiently reduced if the control tasks use harmonic periods because then each time the task is released, the same set of high priority tasks are released in the system.…”

Section: Introductionmentioning

confidence: 99%

Optimal harmonic period assignment: complexity results and approximation algorithms

Mohaqeqi

Nasri

et al. 2018

Real-Time Syst

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“…The QoC can be measured by different system parameters (e.g., settling time, peak overshoot) depending on high-level requirements. In general, a shorter sampling period translates into a higher QoC [2], [3], [4]. However, a shorter sampling period implies a higher requirement on resources (i.e., higher computation on processors, larger data on the bus).…”

Section: Introductionmentioning

confidence: 99%

Composable Platform-Aware Embedded Control Systems on a Multi-core Architecture

Valencia

Goswami

Goossens

2015

2015 Euromicro Conference on Digital System Design

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Abstract-In this work, we propose a design flow for efficient implementation of embedded feedback control systems targeted for multi-core platforms. We consider a composable tile-based architecture as an implementation platform and realise the proposed design flow onto one instance of this architecture. The proposed design flow implements the feedback loops in a datadriven fashion leading to time-varying sampling periods with short average sampling period. Our design flow is composed of two phases: (i) representing the timing behaviour imposed by the platform by a finite and known set of sampling periods, which is achieved exploiting the composability of the platform, and (ii) a linear matrix inequality (LMI) based platform-aware control algorithm that explicitly takes the derived platform timing characteristics and the shorter average sampling period into account. Our results show that the platform-aware implementation outperforms traditional control design flows (i.e., almost 2 times) in terms of quality of control (QoC).

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“…In typical approaches [3], [4], [5], the control tasks are all designed together in a way that some global cost (function of the control cost of the individual tasks) is minimized. By following this approach, however, the design of each control task is affected by the other control tasks, hence breaking the key engineering design principle of separation of concerns.…”

Section: Introductionmentioning

confidence: 99%

Designing Bandwidth-Efficient Stabilizing Control Servers

Aminifar

Bini

Eles

et al. 2013

2013 IEEE 34th Real-Time Systems Symposium

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Abstract-Guaranteeing stability of control applications in embedded systems, or cyber-physical systems, is perhaps the alpha and omega of implementing such applications. However, as opposed to the classical real-time systems where often the acceptance criterion is meeting the deadline, control applications do not primarily enforce hard deadlines. In the case of control applications, stability is considered to be the main design criterion and can be expressed in terms of the amount of delay and jitter a control application can tolerate before instability. Therefore, new design and analysis techniques are required for embedded control systems.In this paper, the analysis and design of such systems considering server-based resource reservation mechanism are addressed. The benefits of employing servers are manifold: (1) providing a compositional framework, (2) protection against other tasks misbehaviors, and (3) systematic bandwidth assignment. We propose a methodology for designing bandwidthefficient servers to stabilize control tasks.

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Delay-Aware Period Assignment in Control Systems

Abstract: We consider the problem of optimal static period assignment for multiple independent control tasks executing on the same CPU. Previous

Cited by 106 publications

References 17 publications

Optimal harmonic period assignment: complexity results and approximation algorithms

Optimal harmonic period assignment: complexity results and approximation algorithms

Composable Platform-Aware Embedded Control Systems on a Multi-core Architecture

Designing Bandwidth-Efficient Stabilizing Control Servers

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