Optimal On-line Sampling Period Assignment for Real-Time Control Tasks Based on Plant State Information

The paper presents a feedback scheduling strategy for multiple control tasks that uses feedback from the plant states to distribute the computing resources optimally among the tasks. Linear-quadratic controllers are analyzed, and expressions relating the expected cost to the sampling period and the...

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Bibliographic Details
Published inProceedings of the 44th IEEE Conference on Decision and Control pp. 4469 - 4474
Main Authors Henriksson, D., Cervin, A.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2005
Subjects
Control systems
Cost function
Delay
Distributed computing
Embedded system
Feedback loop
Optimal control
Processor scheduling
Sampling methods
State feedback
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Summary:The paper presents a feedback scheduling strategy for multiple control tasks that uses feedback from the plant states to distribute the computing resources optimally among the tasks. Linear-quadratic controllers are analyzed, and expressions relating the expected cost to the sampling period and the plant state are derived and used for on-line sample-rate adjustments. In the case of minimum-variance control of multiple integrator processes, an exact expression for the optimal sampling periods is obtained. For the general case, an on-line optimization procedure is developed. The approach is exemplified on a set of controllers for first-order systems. The issues of computational delay and the choice of the feedback scheduler period are also discussed.
ISBN:9780780395671
0780395670
ISSN:0191-2216
DOI:10.1109/CDC.2005.1582866