Journal Article

A Feedback Scheduler for Real-Time Controller Tasks

Johan Eker, Per Hagander, Karl-Erik Årzén


The problem studied in this paper is how to distribute computing resources over a set of realtime control loops in order to optimize the total control performance. Two subproblems are investigated: how the control performance depends on the sampling interval, and how a recursive resource allocation optimization routine can be designed. Linear quadratic cost functions are used as performance indicators. Expressions for calculating their dependence on the sampling interval are given. An optimization routine, called a feedback scheduler, that uses these expressions is designed.

Control Engineering Practice, 8:12, pp. 1369–1378,2000.

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