https://www.mdu.se/

Real-time control algorithms are designed based on the

characteristics of the controlled plants and they require good

performance without delays. However, digital control implementation

typically introduces delays and jitters due to insufficient CPU

processing power and the limitations of the real-time scheduling

method used. This can degrade the system performance or even make it

unstable.

In this paper we propose an integrated approach for control design

and real-time scheduling, suitable for both discrete-time and

continuous-time controllers. It guarantees system performance by

accepting a certain minimum value of jitter for control tasks and

feasibly schedules them together with other tasks in the system.

Results from comparison with other approaches from real-time and

control theory domains underline the effectiveness of our method.