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Control-Scheduling Codesign of Real-Time Systems: The Control Server Approach

Publiceringsår: 2005
Språk: Engelska
Sidor: 209-224
Publikation/Tidskrift/Serie: Journal of Embedded Computing
Volym: 1
Nummer: 2
Dokumenttyp: Artikel i tidskrift
Förlag: IOS Press


The paper presents the control server, a real-time schedulingmechanism tailored to control and signal processing applications. Acontrol server creates the abstraction of a control task with aspecified period and a fixed input-output latency shorter than theperiod. Individual tasks can be combined into more complexcomponents without loss of their individual guaranteed fixed-latencyproperties. I/O occurs at fixed predefined points in time, at whichinputs are read or controller outputs become visible. The controlserver model is especially suited for codesign of real-time controlsystems. The single parameter linking the scheduling design and thecontroller design is the task utilization factor. The proposedserver is an extension of the constant bandwidth server, which isbased on the earliest-deadline-first scheduling algorithm. Theserver has been implemented in a real-time kernel and has also beenvalidated in control experiments on a ball and beam process.


  • Control Engineering
  • constant bandwidth server
  • real-time components
  • design methodology
  • Feedback control
  • real-time scheduling


  • ISSN: 1740-4460

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