T. Ayav and G. Ferrari-Trecate. Optimal control for real-time feedback rate-monotonic schedulers. In P. Yolum, T. Güngör, F. Gürgen, and C. Özturan, editors, Proc. 20th International Symposium on Computer and Information Sciences (ISCIS 2005) , volume 3733 of Lecture Notes in Computer Science , pages 894--903. Springer-Verlag, 2005.
This paper presents an optimal control scheme for a real-timefeedback control rate-monotonic scheduling (FC-RMS) system. Weconsider two-version tasks composed of a mandatory and an optionalpart to be scheduled according to the FC-RMS. In FC-RMS, thecontroller provides a feedback strategy for deciding about theexecution or rejection of the optional sub-tasks. By modeling thetask execution times as random variables, we first find thestatistical model of FC-RMS and then we design a pure optimalcontroller and an optimal controller with feedforward integralcompensation. The comparison of these two schemes with commonProportional-Integral-Derivative (PID) controller highlights thebenefit of the optimal scheme with integral compensation. Theresults are demonstrated through the real implementation of FC-RMSon RT-Linux.