Conference Contribution

TrueTime: Simulation of Control Loops Under Shared Computer Resources

Dan Henriksson, Anton Cervin, Karl-Erik Årzén


The paper presents TrueTime, a Matlab/Simulink-based simulator for real-time control systems. \textsc{TrueTime} makes it possible to simulate the temporal behavior of multi-tasking real-time kernels containing controller tasks and to study the effects of CPU and network scheduling on control performance. The simulated real-time kernel is event-driven and can handle external interrupts as well as fine-grained details such as context switches. Arbitrary scheduling policies may be defined, and the control tasks may be implemented using C functions, M functions, or Simulink block diagrams. A number of examples that illustrate the use of TrueTime are presented.


Event-based simulation, Real-time control systems, Shared resources, Real-time kernel, Feedback scheduling


The TrueTime homepage is found here.

In Proceedings of the 15th IFAC World Congress on Automatic Control, Barcelona, Spain, July 2002.

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