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

Jitter compensation for real-time control systems

“…It must be pointed out that before all the parameters recalculations are done, the stability of the system depending on h k has been tested. For further details, see [8] …”

“…In this paper we focus on the sampling jitter problem and show that by using this compensation approach, the control performance degradation due to the sampling jitter introduced by real-time scheduling algorithms is eliminated while guaranteeing stability [8].…”

An integrated approach to real-time distributed control systems over fieldbuses

“…The sampled data system in a state-space from can be described then by (6) and (7). (6) (7) where To meet the closed loop system performance requirements according to the process dynamics, the system specified by (6) and (7) can be controlled using state feedback, expressed in (8), where L, the state feedback control law, can be obtained by an appropriate control design strategy such as pole placement or optimization approach. (8) At the end, after all the design process, the controller node will be executing a control algorithm that will depend on the sampling period (h) and on constant sampling-actuation delay (τ).…”

“…Therefore, the sampling-actuation delays will vary at each control loop execution. However, the state feedback control law in (8) obtained from (6) and (7) has been designed assuming a constant delay τ.…”

“…where Since τ k has a bounded variability due to real-time communication properties, the stability of the system can be determined as in [8]. In Fig.…”