Sampling Period Dependent RST Controller used in Control/Scheduling Co-Design

Authors:	Robert David, Laboratoire d'Automatique de Grenoble, France Sename Olivier, Laboratoire d'Automatique de Grenoble, France Simon Daniel, INRIA, France
Topic:	3.1 Computers for Control
Session:	Control and Embedded Systems
Keywords:	Computer controlled systems, digital control, RST controller,feedback scheduling

Abstract

The paper presents a sampling period dependent RST controller used inthe context of control/scheduling co-design. This plant controller is implementedon a real-time operating system as a control task. A scheduling controller adaptscontrol task periods to regulate the processor load. The link established betweenscheduling and plant control provides more flexibility and robustness w.r.t. thevariation of the processor load. Parameterized RST and scheduling controllersynthesis are presented and a co-design example illustrates the approach flexibility.