Analysis and Design of Real-Time Control Systems with Varying Control Timing Constraints

Agraïments No hauria estat possible realitzar aquesta tesi sense l'ajuda de moltes persones. A totes elles, moltíssimes gràcies! It would not have been possible to produce this thesis without the help of many people. To all of them, thanks a lot! Primerament, vull donar les gràcies als dos directors, el Dr. Josep Mª Fuertes (del departament d' per haver-me dirigit, tant a nivell científic com humà, el procés d'aprenentatge en la realització d'aquesta tesi. Moltes gràcies! En el camí que m'ha conduït fins aquí, són moltes les persones que m'he anat trobant. Cada una d'elles forma part d'aquesta tesi. En un ordre cronològic i sense pretendre ser exhaustiu: Gràcies Pep per confiar en mi i ajudar-me en aquest món del control, tan complex per a mi. Thanks Gerhard for making me feel so welcome and guiding me throughout my real-time systems research. Thanks a lot to everybody living up there, in Sweden, for making me feel at home. Thanks Sashi, thanks Radu and Camilla, and thanks Thomas and Damir. Els meus agraïments també estan dirigits al Dr. Ricard Villà: moltes gràcies per la teva agudesa i les teves valuoses i imprescindibles aportacions. I also want to spend a few words to thank Prof. Krithi Ramamritham. Thanks Krithi for all the stimulating discussions we had, and for agreeing to collaborate in the work done in this thesis. Thanks for your contributions. Thanks also to Anton Cervin. Without your help, this thesis wouldn't be like it is. Gràcies també a totes les persones que ara no cito i sense les quals aquest treball no hauria estat una realitat. Especialment, gràcies a la gent del departament, que d'una manera o altra, sempre m'han ajudat. No m'oblido dels meus amics i amigues: gràcies per estar sempre al meu costat! Pels ànims i suport que sempre m'heu donat, gràcies família! I finalment, gràcies a tu Belén, per tot! El treball realitzat en aquesta tesi ha estat parcialment financiat per: • Projecte Metodologias de Diseño y Evaluación de Prestaciones en los Sistemas Distribuidos de Control. Ref. Aquesta tesi s'ha realitzat durant la meva contractació com a professor associat en el Summary The analysis and design of real-time control systems is a complex task, requiring the integration and good understanding of both control and real-time systems theory. Traditionally, such systems are designed by differentiating two separate stages: first, control design and then its computer implementation, leading to …

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