Performance adaptation of real-time control tasks by dynamic scheduling: A self-triggered control approach
Vahid Panahi, Mehdi Kargahi · 2018
Usually real-time control systems are designed by periodic controllers with conservative period selection to guarantee the plant stability and control performance. However, in resource-constrained systems, the performance may temporarily degrade due to disturbances, a matter which could be better managed if there were sufficient resources to select smaller control periods. In this paper, we present a dynamic resource management approach to efficiently distribute the processing power among concurrent control tasks to improve the overall system control performance. The key idea is to use the self-triggered control approach to post-pone the trigger of control tasks for non-disturbed plants and allocate the freed resources to run additional instances of the control tasks of the disturbed plants. We show that this idea improves the overall control performance of the disturbed plants in different scenarios.