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TrueTime: Simulation of Control Loops Under Shared Computer Resources

Publiceringsår: 2002
Språk: Engelska
Publikation/Tidskrift/Serie: Proceedings of the 15th IFAC world congress
Dokumenttyp: Konferensbidrag
Förlag: Elsevier


The paper presents TrueTime, aMatlab/Simulink-based simulator for real-time controlsystems. TrueTime makes it possible to simulate the temporalbehavior of multi-tasking real-time kernels containing controllertasks and to study the effects of CPU and network scheduling on controlperformance. The simulated real-time kernel is event-driven and canhandle external interrupts as well as fine-grained details such ascontext switches. Arbitrary scheduling policies may be defined, andthe control tasks may be implemented using C functions, M functions,or Simulink block diagrams. A number of examples that illustratethe use of TrueTime are presented.


  • Control Engineering
  • Feedback scheduling
  • Event-based simulation
  • Real-time control systems
  • Shared resources
  • Real-time kernel



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