Control-Quality Driven Task Mapping for Distributed Embedded Control Systems

Many embedded control systems are implemented on execution platforms with several computation nodes and communication components. Distributed embedded control systems typically comprise multiple control loops that share the available computation and communication resources of the platform. It is well known that such resource sharing leads to complex delay characteristics that degrade the control quality if not properly taken into account at design time. Scheduling in computation nodes and communication infrastructure, as well as execution periods of the controllers impact the delay characteristics and, consequently, the control quality. In addition, mapping of tasks on computation nodes affect both scheduling of tasks and messages, and the assignment of periods of the control applications. Therefore, control synthesis must be considered during mapping, scheduling, and period assignment in order to achieve high control quality. This paper presents a control-quality optimization approach for integrated mapping, scheduling, period selection, and control synthesis for distributed embedded control systems.

[1]  Karl-Erik Årzén,et al.  Feedback–Feedforward Scheduling of Control Tasks , 2002, Real-Time Systems.

[2]  Anton Cervin,et al.  Delay-Aware Period Assignment in Control Systems , 2008, 2008 Real-Time Systems Symposium.

[3]  K.-E. Arzen,et al.  How does control timing affect performance? Analysis and simulation of timing using Jitterbug and TrueTime , 2003, IEEE Control Systems.

[4]  Hermann Kopetz,et al.  Real-time systems , 2018, CSC '73.

[5]  Petru Eles,et al.  Design Optimization and Synthesis of FlexRay Parameters for Embedded Control Applications , 2011, 2011 Sixth IEEE International Symposium on Electronic Design, Test and Application.

[6]  M. Karam,et al.  Modeling a simple inverted pendulum using a model-based dynamic recurrent neural network , 2005, Proceedings of the Thirty-Seventh Southeastern Symposium on System Theory, 2005. SSST '05..

[7]  Yskandar Hamam,et al.  Optimal integrated control and scheduling of networked control systems with communication constraints: application to a car suspension system , 2006, IEEE Transactions on Control Systems Technology.

[8]  Edward A. Lee.  Cyber Physical Systems: Design Challenges , 2008, 2008 11th IEEE International Symposium on Object and Component-Oriented Real-Time Distributed Computing (ISORC).

[9]  James W. Layland,et al.  Scheduling Algorithms for Multiprogramming in a Hard-Real-Time Environment , 1989, JACM.

[10]  George A. Perdikaris.  Computer Controlled Systems , 1991 .

[11]  J. Nilsson,et al.  Timing problems in real-time control systems , 1995, Proceedings of 1995 American Control Conference - ACC'95.

[12]  Petru Eles,et al.  Integrated scheduling and synthesis of control applications on distributed embedded systems , 2009, 2009 Design, Automation & Test in Europe Conference & Exhibition.

[13]  Lui Sha,et al.  On task schedulability in real-time control systems , 1996, 17th IEEE Real-Time Systems Symposium.

[14]  Edward A. Lee.  Computing needs time , 2009, CACM.

[15]  John A. Stankovic,et al.  Scheduling Distributed Real-Time Tasks with Minimum Jitter , 2000, IEEE Trans. Computers.

[16]  F. Glover,et al.  In Modern Heuristic Techniques for Combinatorial Problems , 1993 .

[17]  Anton Cervin,et al.  JITTERBUG: a tool for analysis of real-time control performance , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[18]  Karl Johan Åström,et al.  Computer-controlled systems (3rd ed.) , 1997 .

[19]  K.-E. Arzen,et al.  An introduction to control and scheduling co-design , 2000, Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187).