Scheduling and Feedback Co-Design for Networked Control Systems Michael S. Branicky, 1 Stephen M. Phillips, 1 and … [2]K. ” Arz¶en, A. Cervin, and J. Eker, An introduction to con troland … Michael S. Branicky,1 Stephen M. Phillips,1 and Wei Zhang2 fmsb11,smp2g@po.cwru.edu, wzhang@brocade.com Scheduling and Feedback Co-Design for Networked Control Systems Michael S. Branicky, 1 Stephen M. Phillips, 1 and Wei Zhang 2 fmsb11,smp2g@po.cwru.edu, wzhang@brocade.com Abstract Feedback control systems wherein the control loops are …

In the past, control system design and CPU scheduling or network scheduling design have normally been separated. This separation has allowed the con trol commu- nit ytofocusonits own problem domain without worry- ingabouthow scheduling is being done; it has released the schedulingcomm unity from the need to understand what impact scheduling has on the stability and perfor- manceoftheplant under control. However, when the two designs are combined together, many assumptions are not true. These impact system performance. Whileco-design of control and CPU scheduling has recently receiveda considerable amount of attention [2,7,17,6,1], network scheduling in NCSsisarela- tivelyblankarea that needs to be explored. 1.1 ProblemDescription Consider a set of NCSswhichare connected to anet- work, as illustrated in Figure 1 (which issimplifed from the general case: linear plant and control and no actuator-plant communication). Each plant trans- mitsitssensors’data at transmission periodh i (t). One can compute the transmission period bounds in order for each individual plant to be stable[19,20]. However, when the transmission path is shared with other NCSs, transmission scheduling among the plants has to be performed. A set of NCStransmissions is said to beschedulableby a scheduling algorithm (or the transmission schedule is feasible) if all transmissions can be completed before their deadlines. 1.2 RateMonotonic Scheduling In[11], Liuand La ylandaddressed the problem of prioritized, preemptive scheduling fora set of independent, periodic real-time tasks. They prop osed the rate monotonic (RM) scheduling algorithm, where tasks with shorter periods have higher priorities. RM is aflxed- priority assignment: priorities are assigned to tasks before execution and do not changeover time. Moreover, RM canbepreemptive: the currently executing task is preempted by a newly-arrived task with shorter period

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