Sampling Period Dependent RST Controller Used in Control/Scheduling Co-Design

Abstract

The paper presents a sampling period dependent RST controller used in the context of control/scheduling co-design. This plant controller is implemented on a real-time operating system as a control task. A scheduling controller adapts control task periods to regulate the processor load. The link established between scheduling and plant control provides more flexibility and robustness w.r.t. the variation of the processor load. Parameterized RST and scheduling controller synthesis are presented and a co-design example illustrates the approach flexibility.

Antinomy between schedulability and quality of control using a feedback scheduler

“…Later in [10], Bini and Cervin, rescaled periods by minimizing a cost function of delay and period, to look for schedulability on-line. A sampling period dependent RST controller has been proposed in [21], including H∞ scheduling controller to regulate the processor load. Also in the context of indirect FBS, a Linear Parameter Varying (LPV) approach to adapt on-line the control task periods according to the availability of computing resources and the plant performances is applied to control a robot manipulation arm in [24] and another LPV design is applied to sampling period control for an inverted pendulum control in [22].…”

An $H_{\infty} $ LPV Design for Sampling Varying Controllers: Experimentation With a T-Inverted Pendulum

“…In [4], a processor load regulation is proposed and applied for real-time control of a robot arm. The design of a two degrees-of-freedom controller was proposed in [5] for linear single-input-single-output (SISO) systems. In [6], the case of linear parameter varying (LPV) sampled-data systems is considered, where the sampling interval depends on the system parameters.…”

A LPV approach to control and real-time scheduling codesign: Application to a robot-arm control

“…In [3], some results are given using the lifting technique for output-feedback synthesis for LPV sampled-data systems, where the sampling period may also be parameter varying. Finally methods to design sampling period dependent controllers have been proposed in [4] for RST ones and in [5], [6] using the H ∞ control approach LPV polytopic systems.…”