Jitter compensation for real-time control systems

Martí, Pau; Fuertes, Josep M.; Fohler, Gerhard; Ramamritham, Krithi

doi:10.1109/real.2001.990594

Cited by 123 publications

(105 citation statements)

References 19 publications

(10 reference statements)

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“…It has to be noted that for any given Q s , the set of probabilities µ i is readily available using (20) and, hence, ensuring SMS for the given Q s simply amounts to verify the necessary and sufficient criterium (19).…”

Section: A An Algorithmic Estimate Of the Probabilitiesmentioning

confidence: 99%

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The Continuous Stream Model of Computation for Real-Time Control

Fontanelli

Palopoli

Abeni

2013

2013 IEEE 34th Real-Time Systems Symposium

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Abstract-This paper presents a new Model of Computation (MoC) for real-time tasks used in control systems. This new model, named continuous stream task model, relaxes some of the constraints imposed by the traditional hard and soft real-time task models. A key advantage of the model is the possibility to easily analyse the probabilistic evolution of the delays. This leads to an easy formalisation of necessary and sufficient conditions for the stochastic stability of the closed loop system producing considerable savings in the amount of CPU bandwidth required to stabilise the system. This fact is confirmed by an extensive set of simulations.

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Section: A An Algorithmic Estimate Of the Probabilitiesmentioning

confidence: 99%

“…Many authors have investigated on how to make the design robust against an irregular timing behaviour of the implementation, focusing on such effects as packet dropout [22], [18], jitter in computation [20], [17] and time varying delays [13]. Other authors have sought suitable ways to modify the scheduling behaviour in overload conditions.…”

Section: Introductionmentioning

confidence: 99%

The Continuous Stream Model of Computation for Real-Time Control

Fontanelli

Palopoli

Abeni

2013

2013 IEEE 34th Real-Time Systems Symposium

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“…The basic idea is that at each controller task instance execution, the controller task parameters are adjusted according to both the actual sampling interval and the actual sampling-actuation delay. For an extensive revision of the compensation approach as well as for a jitter characterization, see Martí et al (2001b).…”

Section: Overviewmentioning

confidence: 99%

“…A sketch of this system can be found in Martí et al (2001b). The goal of the control is to maintain the desired vertically oriented position at all times.…”

Section: Examplementioning

confidence: 99%

“…Martí et al (2001a) have shown that these jitters may result in a degradation of the system control performance, and even lead to instability in the system. However, in Cervin (2000) and Årzen et al (2000) it is suggested and in Martí et al (2001b) further developed that this degradation can be compensated by adjusting the controller parameters according to these jitters at each controller task instance execution, in the so-called compensation approach.…”

Section: Introductionmentioning

confidence: 99%

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Stability of On-line Compensated Real-time Scheduled Control Tasks

Martí

Villà

Fuertes

et al. 2001

IFAC Proceedings Volumes

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Strictly periodic first: An optimal variant of LLF for scheduling tasks in a time‐critical cyber‐physical system

Kermia¹

2020

Concurrency and Computation

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Cyber-physical systems (CPSs) include time-critical embedded systems where strict timing constraints are considered. These specific CPSs are dealing with close loop control functions, they are interfacing to sensors and actuators and have to fulfill safety critical real-time constraints. To guarantee the timing correctness, a lot of work introduced the strict-periodicity constraint. The latter is of great importance since it concerns sensors/actuators periodic tasks for which the relevancy of information they use is linked to the accuracy of their repetition. Applied to real-time control systems, the strict-periodicity constraint ensures much more stability and robustness. Therefore, the problem of scheduling real-time strictly periodic tasks has been targeted by several works in the literature but all these works were interested in nonpreemptive systems. In this work, we consider as strictly periodic and nonpreemptive only the sensory subtask and the remaining portion of the task may be preempted. This way, input transaction of every task receives the highest priority when accessing processor resource which enhances system predictability. On the other hand, the preemption allows easing schedulability analysis and, most of the time, it leads to a better processor utilization. The article proposes an optimal such task scheduling algorithm, called SPF for Strictly Periodic First, based on the Least Laxity First (LLF) scheduler and an efficient schedulability analysis. Simulation experiments with randomly generated task sets allowed showing the effectiveness of the proposed approach.

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Jitter compensation for real-time control systems

Cited by 123 publications

References 19 publications

The Continuous Stream Model of Computation for Real-Time Control

The Continuous Stream Model of Computation for Real-Time Control

Stability of On-line Compensated Real-time Scheduled Control Tasks

Strictly periodic first: An optimal variant of LLF for scheduling tasks in a time‐critical cyber‐physical system

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