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A Matlab toolbox for real-time control performance analysis


2010-07-13: Version 1.23 released. Includes evaluation and design of systems with impulse controls (allowing, e.g., integrative disturbances and controllers with integral action).

2010-04-20: Version 1.22 released. Includes (suboptimal) robust LQG design for systems with time-varying input-output delay.


Jitterbug 1.23 Reference Manual


Direct download:

Github repo with all files


Dan Henriksson, Ola Redell, Jad El-Khoury, Anton Cervin, Martin Törngren, Karl-Erik Årzén: "Tools for Real-Time Control Systems Co-Design". In Hans Hansson (Ed.) (Eds.): ARTES -- A network for Real-Time research and graduate Education in Sweden 1997--2006, Department of Information Technology, Uppsala University, Sweden, March 2006.

Karl-Erik Årzén, Anton Cervin, Dan Henriksson: "Implementation-Aware Embedded Control Systems". In D. Hristu-Varsakelis and W. S. Levine (Eds.): Handbook of Networked and Embedded Control Systems, Birkhäuser, 2005.

Anton Cervin: "Using Jitterbug to Derive Control Loop Timing Requirements". In Proceedings of CERTS'03 -- Co-Design of Embedded Real-Time Systems Workshop, Porto, Portugal, July 2003.

Anton Cervin, Dan Henriksson, Bo Lincoln, Johan Eker, Karl-Erik Årzén: "How Does Control Timing Affect Performance? Analysis and Simulation of Timing Using Jitterbug and TrueTime". IEEE Control Systems Magazine,23:3, pp. 16–30, June 2003.

Anton Cervin, Bo Lincoln: "Jitterbug 1.1—Reference Manual". Technical Report ISRN LUTFD2/TFRT--7604--SE, Department of Automatic Control, Lund University, Sweden, January 2003.

Bo Lincoln, Anton Cervin: "Jitterbug: A Tool for Analysis of Real-Time Control Performance". In Proceedings of the 41st IEEE Conference on Decision and Control, Las Vegas, NV, December 2002.

Anton Cervin, Dan Henriksson, Bo Lincoln, Karl-Erik Årzén: "Jitterbug and TrueTime: Analysis Tools for Real-Time Control Systems". In Proceedings of the 2nd Workshop on Real-Time Tools, Copenhagen, Denmark, August 2002.