Stability of On-line Compensated Real-time Scheduled Control Tasks

Abstract Real-time scheduling methods introduce various types of jitter in task instance execution. For real-time computer-controlled systems, the introduced sampling jitter and sampling-actuation delays may degrade the system performance and even lead to instability in the system. The degradation of the system performance can be compensated on-line by updating the controller parameters at each controller task instance execution, in what we call the compensation approach. In this paper we present stability analysis for controller tasks that perform the compensation approach.

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