The One-Shot Task Model for Robust Real-Time Embedded Control Systems

Embedded control systems are often implemented in small microprocessors enabled with real-time technology. In this context, control laws are often designed according to discrete-time control systems theory and implemented as hard real-time periodic tasks. Standard discrete-time control theory mandates to periodically sample (input) and actuate (output). Depending on how input/ output (I/O) operations are performed within the hard real-time periodic task, different control task models can be distinguished. However, existing task models present important drawbacks. They generate task executions prone to violate the periodic control demands, a problem known as sampling and latency jitter, or they impose synchronized I/O operations at each task job execution that produce a constant but artificially long I/O latency. In this paper, the one-shot task model for implementing control systems in embedded multitasking hard real-time platforms is presented. The novel control task model is built up...

• Type: Journal
• Year: 2008
• Where: TII
• Authors: Camilo Lozoya, Manel Velasco, Pau Martí
• Keywords: Control Systems, Real-time Periodic Task, Task Model, TII 2008