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On Dynamic Real-Time Scheduling of Model Predictive Controllers

Publiceringsår: 2002
Språk: Engelska
Sidor: 1325-1330
Publikation/Tidskrift/Serie: Proceedings of the 41st IEEE Conference on Decision and Control, 2002
Volym: 2
Dokumenttyp: Konferensbidrag
Förlag: IEEE--Institute of Electrical and Electronics Engineers Inc.


The paper discusses dynamic real-time scheduling in the context ofmodel predictive control (MPC). Dynamic scheduling in this settingis motivated by the highly varying execution times associated withMPC controllers. Premature termination of the optimization algorithmis exploited to trade off prolonged computations versuscomputational delay. A feedback scheduling strategy for multiple MPCcontrollers is also proposed, where the scheduler allocates CPU timeto the tasks according to the current values of the cost functions.Simulated examples show how the overall control performance maybenefit from the application of the proposed schemes.


  • Control Engineering
  • optimisation
  • feedback
  • processor scheduling
  • predictive control
  • delays
  • real-time systems


  • ISSN: 0191-2216
  • ISBN: 0-7803-7516-5

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