Fault-tolerant control synthesis and verification of distributed embedded systems

Kauer, Matthias; Soudbakhsh, Damoon; Goswami, Dip; Chakraborty, Samarjit; Annaswamy, Anuradha M.

doi:10.7873/date2014.069

Cited by 10 publications

(6 citation statements)

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“…Alternately, u * [k] can also be derived using other compensation strategies (see [12]). The above discussions indicate that the underlying plant dynamics is given by (6) in the nominal mode, (16) in the skip mode, and (19) in the abort mode.…”

Section: B Implementation Of the Overrun Frameworkmentioning

confidence: 99%

“…This leads to a switched control system whose stability has been analyzed using Multiple Lyapunov Functions [5], [11], Norm-based approaches [11], and common quadratic Lyapunov functions [6], [8], [12], [13].…”

Section: Introduction and Related Workmentioning

confidence: 99%

“…Modifying the control law for consecutive aborted signals to improve the overall performance has been studied in [12], [13], [15]- [17]. While all of these methods based are improvements over those based on worst-case delays, and can be proved to be stable, they may still lead to inefficient resource utilization.…”

Section: Introduction and Related Workmentioning

confidence: 99%

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Co-Design of Arbitrated Network Control Systems With Overrun Strategies

Soudbakhsh

Phan

Annaswamy

et al. 2018

IEEE Trans. Control Netw. Syst.

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Abstract-This paper addresses co-design of platform and control of multiple control applications in a network control system. Limited and shared resources among control and noncontrol applications introduce delays in transmitted messages. These delays in turn can degrade system performance and cause instabilities. In this paper, we propose an overrun framework together with a co-design to achieve both optimal control performance and efficient resource utilization. The starting point for this framework is an Arbitrated Network Control System (ANCS) approach, where flexibility and transparency in the network are utilized to arbitrate control messages. Using a two-parameter model for delays experienced by control messages that classifies them as nominal, medium, and large, we propose a controller that switches between nominal, skip and abort strategies. An automata-theoretic technique is introduced to derive analytical bounds on the abort and skip rates. A co-design algorithm is proposed to optimize the selection of the overrun parameters. A case study is presented that demonstrates the ANCS approach, the overrun framework and the overall co-design. I. INTRODUCTION AND RELATED WORKEmbedded computing systems (ECS) are ubiquitous in a wide range of applications including transportation, energy, and healthcare. Design of ECS faces several challenges, especially in the context of high performance, due to strict requirements such as safety, real-time deadlines, and minimum power consumption. These systems typically consist of several control and non-control applications in which their components communicate via shared resources. The presence of several applications with different priorities and limitations on the processing elements introduces resource contention. Specifically, messages can be occasionally delayed, arriving too late to be useful. It is therefore highly desirable to address the design of ECS that directly accommodates the presence of imperfect message transmissions, provides efficient resource utilization, and meets stringent performance specifications. This paper presents a co-design of implementation platform and control so as to result in efficient resource utilization and desired real-time control performance in the presence of overruns in messages when they do not meet their deadlines.Existing research in co-design of control and implementation platform in the presence of non-ideal message transmissions can be categorized in two parts: i) Designing controllers to achieve desired performance and ii) Designing communication protocols to achieve efficient resource utilization. The former consists of procedures for the estimation of worst-case delays of messages and design of controllers that are robust to such delays. This approach however can be pessimistic and

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Section: B Implementation Of the Overrun Frameworkmentioning

confidence: 99%

Section: Introduction and Related Workmentioning

confidence: 99%

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Co-Design of Arbitrated Network Control Systems With Overrun Strategies

Soudbakhsh

Phan

Annaswamy

et al. 2018

IEEE Trans. Control Netw. Syst.

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“…Another body of research that studies the impact of missed control action on stability and performance is platform-aware formal veriication of control software [55], [56], [72], [73]. Here, an embedded platform architecture is represented as a network of time-stamped event count automata (TS-ECA) where each message is stamped with a time as it moves from one buffer to another.…”

Section: ) Robust-control-aware Platform Design and Veriicationmentioning

confidence: 99%

Semantics-Preserving Cosynthesis of Cyber-Physical Systems

et al. 2018

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“…Such failures can be caused e.g. by an unreliable communication system connecting sensors, controllers and actuators (Kauer et al (2014)), or since the control input is calculated on a microprocessor that runs many different tasks in parallel, such that the on-time calculation of the control input cannot always be guaranteed (Bernat et al (2001); Årzén et al (2005)). Nevertheless, it is important to guarantee stability of the control system despite the unreliable feedback channel.…”

Section: Introductionmentioning

confidence: 99%

Stability Analysis for Nonlinear Weakly Hard Real-Time Control Systems

Hertneck¹,

Linsenmayer²,

Allgöwer³

2020

Preprint

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This paper considers the stability analysis for nonlinear sampled-data systems with failures in the feedback loop. The failures are caused by shared resources, and modeled by a weakly hard real-time (WHRT) dropout description. The WHRT dropout description restricts the considered dropout sequences with a non-probabilistic, window based constraint, that originates from schedulability analysis. The proposed approach is based on the emulation of a controller for the nonlinear sampled-data system from a continuous-time feedback. The emulation technique is extended and combined with non-monotonic Lyapunov functions and a graph description for the WHRT constraints to guarantee asymptotic stability. The effectiveness of the proposed approach is illustrated with a numerical example from literature. This paper is the accepted version of Hertneck et al. (2020), containing also proofs of the main results.

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Fault-tolerant control synthesis and verification of distributed embedded systems

Cited by 10 publications

References 0 publications

Co-Design of Arbitrated Network Control Systems With Overrun Strategies

Co-Design of Arbitrated Network Control Systems With Overrun Strategies

Semantics-Preserving Cosynthesis of Cyber-Physical Systems

Stability Analysis for Nonlinear Weakly Hard Real-Time Control Systems

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