REDUCING CONTROL LATENCY AND JITTER IN REAL-TIME CONTROL
Yu‐Chu Tian, Qing‐Long Han, David Levy, Moses Oludayo Tadé · Asian Journal of Control · 2008
This paper analyses control computation latency and jitter, which have been largely ignored in the control community for real-time (RT) control. The focus is on RT control systems with multiple control tasks running on a uniprocessor. Three strategies are proposed to reduce control latency and/or jitter: introduction of offsets into control task scheduling, decomposition of control tasks; and increasing the priority levels of output subtasks. Examples are given to demonstrate the effectiveness of the proposed methods.