Abstract—This paper proposes a new approach for the optimal
integrated control and real-time scheduling of control tasks.
First, the problem of the optimal integrated control and nonpreemptive
off-line scheduling of control tasks in the sense of
the H2 performance criterion is addressed. It is shown that this
problem may be decomposed into two sub-problems. The first
sub-problem aims at finding the optimal non-preemptive off-line
schedule, and may be solved using the branch and bound method.
The second sub-problem uses the lifting technique to determine
the optimal control gains, based on the solution of the first
sub-problem. Second, an efficient on-line scheduling algorithm
is proposed. This algorithm, called Reactive Pointer Placement
(RPP) scheduling algorithm, uses the plant state information to
dispatch the computational resources in a way that improves
control performance. Control performance improvements as well
as stability guarantees are formally proven. Finally, simulations
as well as experimental results are presented in order to illustrate
the effectiveness of the proposed approach.
| Identifer | oai:union.ndltd.org:netd.ac.za/oai:union.ndltd.org:tut/oai:encore.tut.ac.za:d1001370 |
| Date | 27 February 2009 |
| Creators | Gaid, MEMB, Cela, AS, Hamam, Y |
| Publisher | IEEE Transactions on Control Systems Technology |
| Source Sets | South African National ETD Portal |
| Language | English |
| Detected Language | English |
| Type | Text |
| Format | |
| Rights | IEEE Transactions on Control Systems Technology |
| Relation | HAL Id |
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