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Robust Co-Design of Control and Real-Time Scheduling in Cyber-Physical Systems |
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PP: 1319-1329 |
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doi:10.18576/amis/100411
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Author(s) |
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Kyung-Joon Park,
Man-Ki Yoon,
Chang-Gun Lee,
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Abstract |
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| Cyber-physical systems (CPS) have emerged as a promising research paradigm, which is the convergence of control,
communication, and computation. In CPS, real-time transactions visit multiple resources such as sensors, actuators, networks, and
microprocessors. One fundamental issue, which is called control and real-time scheduling co-design, is how to maximize control
performance of the physical systems while satisfying the real-time constraints imposed by limited computational resources. Although
there have been extensive studies on the co-design problem in a single-resource system, multi-resource cases have not been fully
studied. In this paper, we propose an optimization framework for robust control design with end-to-end response time constraints in a
multi-resource system. We introduce a rigorous robust performance metric from the control theoretic viewpoint. Then, we investigate
the impact of end-to-end response time analysis techniques on the control performance. We show that the traditional per-job response
time analysis significantly degrades the control performance when real-time tasks visit a resource multiple times. We demonstrate
that we can improve the control performance by adopting the per-resource response time analysis. Our simulation results verify the
effectiveness of the proposed co-design framework. |
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