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The Control Server Model: A Computational Model for Real-Time Control TasksAnton Cervin and Johan EkerTo appear at Euromicro Conference on Real-Time Systems (ECRTS03), Porto, Portugal, 2-4 July 2003
AbstractThe paper presents a computational model for real-time control tasks, with the primary goal of simplifying the control and scheduling co-design problem. The model combines time-triggered I/O and inter-task communication with dynamic, reservation-based task scheduling. To facilitate short input-output latencies, a task may be divided into several segments. Jitter is reduced by allowing communication only at the beginning and at the end of a segment. A key property of the model is that both schedulability and control performance of a control task will depend on the reserved utilization factor only. This enables controllers to be treated as scalable real-time components. The model has been implemented in a real-time kernel and validated in a real-time control application.
10 Mar 2003 at 21:02:27 |